Force-Based Offset Estimation for Keyed Peg-in-Hole Assembly Using Local Gaussian Process Regression

arXiv:2608.17691v1 Announce Type: new Abstract: Key-keyway assembly tasks impose strict geometric constraints and are highly sensitive to grasp pose deviations in uncertain environments. This work presents a force-based offset estimation method for keyed peg-in-hole assembly, embedded within a perception-validation-insertion pipeline. Residual misalignment is estimated directly from wrist force/torque measurements using a local KNN-Gaussian Process hybrid regressor. The framework distinguishes b...