← Back to Benchmarks
simmediumpolicy-learningmetric · varies
DecompGrind: A Decomposition Framework for Robotic Grinding via Cutting-Surface Planning and Contact-Force Adaptation
Description
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging because removal resistance varies with local contact conditions. Moreover, it is difficult to achieve accurate estimation of removal resistance and analytical modeling of shape transition, and learning-based approaches often require large amounts of training d