# Subassembly to Full Assembly: Effective Assembly Sequence Planning through Graph-based Reinforcement Learning

arXiv: https://arxiv.org/abs/2409.13620 · HTML: https://mlsanity.com/paper/2409.13620/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods.
- Builds on 16 of its 29 references that are in the map.
- First posted on arXiv 20 Sep 2024.

## Placed in

- Deep reinforcement learning methods / [RL for robot locomotion and manipulation](https://mlsanity.com/deeprl/rl-for-robot-locomotion-and-manipulation/)

## Builds on (most cited first, 16 of 16)

- [Fast Graph Representation Learning with PyTorch Geometric](https://mlsanity.com/paper/1903.02428/) (2019)
- [Deep Reinforcement Learning with Double Q-learning](https://mlsanity.com/paper/1509.06461/) (2015)
- [Pointer Networks](https://mlsanity.com/paper/1506.03134/) (2015)
- [How Attentive are Graph Attention Networks?](https://mlsanity.com/paper/2105.14491/) (2021)
- [Attention, Learn to Solve Routing Problems!](https://mlsanity.com/paper/1803.08475/) (2018)
- [Learning Combinatorial Optimization Algorithms over Graphs](https://mlsanity.com/paper/1704.01665/) (2017)
- [Reinforcement Learning for Solving the Vehicle Routing Problem](https://mlsanity.com/paper/1802.04240/) (2018)
- [An Efficient Graph Convolutional Network Technique for the Travelling Salesman Problem](https://mlsanity.com/paper/1906.01227/) (2019)
- [Tianshou: a Highly Modularized Deep Reinforcement Learning Library](https://mlsanity.com/paper/2107.14171/) (2021)
- [Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning](https://mlsanity.com/paper/2203.13733/) (2022)
- [ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility](https://mlsanity.com/paper/2309.16909/) (2023)
- [RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment](https://mlsanity.com/paper/2112.10143/) (2021)
- [Planning Assembly Sequence with Graph Transformer](https://mlsanity.com/paper/2210.05236/) (2022)
- [Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery](https://mlsanity.com/paper/2203.04120/) (2022)
- [Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection](https://mlsanity.com/paper/2312.10571/) (2023)
- [Efficient and Feasible Robotic Assembly Sequence Planning via Graph Representation Learning](https://mlsanity.com/paper/2303.10135/) (2023)

## Abstract (arXiv)

This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object manipulation actions. The primary technical challenge lies in the exponentially increasing complexity of identifying a feasible assembly sequence as the number of parts grows. To address this, we introduce a graph-based reinforcement learning approach, where a graph attention network is trained using a delayed reward assignment strategy. In this strategy, rewards are assigned only when an assembly action contributes to the successful completion of the assembly task. We validate the framework's performance through physics-based simulations, comparing it against various baselines to emphasize the significance of the proposed reward assignment approach. Additionally, we demonstrate the feasibility of deploying our framework in a real-world robotic assembly scenario.