# Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO

arXiv: https://arxiv.org/abs/2503.06848 · HTML: https://mlsanity.com/paper/2503.06848/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Mar 2025.

## Built on by (most cited first, 1 of 1)

- [Prompt-to-Product: Generative Assembly via Bimanual Manipulation](https://mlsanity.com/paper/2508.21063/) (2025)

## Abstract (arXiv)

Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted cameras often suffer from occlusions when either assembling or disassembling from an existing structure. To address the challenge, this paper introduces "Eye-in-Finger", a novel tool design approach that enhances robotic manipulation by embedding low-cost, high-resolution perception directly at the tool tip. We validate our approach using LEGO assembly and disassembly tasks, which require the robot to manipulate in a cluttered environment and achieve sub-millimeter accuracy and robust error correction due to the tight tolerances. Experimental results demonstrate that our proposed system enables real-time, fine corrections to alignment error, increasing the tolerance of calibration error from 0.4mm to up to 2.0mm for the LEGO manipulation robot.