# From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly

arXiv: https://arxiv.org/abs/2609.22609 · HTML: https://mlsanity.com/paper/2609.22609/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 33 references that are in the map.
- First posted on arXiv 18 Sep 2026.

## Builds on (most cited first, 17 of 17)

- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Dense Passage Retrieval for Open-Domain Question Answering](https://mlsanity.com/paper/2004.04906/) (2020)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners](https://mlsanity.com/paper/2307.01928/) (2023)
- [Residual Reinforcement Learning for Robot Control](https://mlsanity.com/paper/1812.03201/) (2018)
- [Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks](https://mlsanity.com/paper/1810.10191/) (2018)
- [Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks](https://mlsanity.com/paper/1906.08880/) (2019)
- [MechAgents: Large language model multi-agent collaborations can solve mechanics problems, generate new data, and integrate knowledge](https://mlsanity.com/paper/2311.08166/) (2023)
- [MechGPT, a language-based strategy for mechanics and materials modeling that connects knowledge across scales, disciplines and modalities](https://mlsanity.com/paper/2310.10445/) (2023)
- [FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty](https://mlsanity.com/paper/2408.04587/) (2024)
- [From Perception to Autonomous Computational Modeling: A Multi-Agent Approach](https://mlsanity.com/paper/2604.06788/) (2026)
- [Integrating LLMs and Digital Twins for Adaptive Multi-Robot Task Allocation in Construction](https://mlsanity.com/paper/2506.18178/) (2025)
- [From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly](https://mlsanity.com/paper/2601.00978/) (2026)
- [FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor](https://mlsanity.com/paper/2607.21227/) (2026)
- [Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion](https://mlsanity.com/paper/2609.13516/) (2026)

## Abstract (arXiv)

Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the task without exceeding the assembly's capacity. Although construction documents encode engineering knowledge about materials and their conditions, translating this knowledge into load limits for a specific assembly remains difficult. This paper presents SAGE (Source-grounded Assembly Gating and Execution), a system that converts documented material evidence into capacity estimates for robotic insertion. SAGE restricts a large language model (LLM) to extracting tensile and compressive strengths from retrieved passages and tables and records their sources. A response model then interpolates offline finite element (FE) solutions to convert these strengths and the assembly conditions into axial load capacity. For fits with positive clearance, the estimated capacity sets the policy's axial force limit; for interference fits, it is compared with measured support demand to determine admission. On the primary benchmark, SAGE reduces mean capacity error from 80.65% for direct LLM estimates based on the same evidence to 10.74%. Without refitting, the mean error remains 8.00% on 16 additional geometries. Under the assigned support release model, SAGE correctly classifies 59 of 62 scored simulation runs, with only conservative errors. In recorded xArm6 demonstrations, SAGE takes material documents as input and completes physical insertion in 9 of 13 trials. These results show that assigning document interpretation to the LLM and force calculation to an explicit mechanical model produces accurate capacity estimates and traceable insertion decisions.