EasyInsert: A Data-Efficient and Generalizable Insertion Policy

ArXi:2505.16187v2 Announce Type: replace-cross Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments, and frequently fail when the plug and socket are far apart, when the scene is densely cluttered, or when handling novel objects. They also rely on strong assumptions such as access to CAD models or a digital twin in simulation. To address these limitations, we propose EasyInsert.