Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning

摘要

We present Fabrica, a system for dual-arm assembly of general multi-part objects that integrates task planning with learning-based manipulation. Fabrica combines geometric reasoning with learned manipulation policies to assemble complex objects from multiple parts. The system handles diverse part geometries, manages assembly sequences, and coordinates bimanual manipulation for stable and efficient assembly operations.