{"id":"https://openalex.org/W7131667085","doi":"https://doi.org/10.48550/arxiv.2602.22100","title":"Behavioral Cloning for Robotic Connector Assembly: An Empirical Study","display_name":"Behavioral Cloning for Robotic Connector Assembly: An Empirical Study","publication_year":2026,"publication_date":"2026-02-25","ids":{"openalex":"https://openalex.org/W7131667085","doi":"https://doi.org/10.48550/arxiv.2602.22100"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.22100","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117604679","display_name":"Andreas Kernbach","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kernbach, Andreas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063877792","display_name":"Daniel Bargmann","orcid":"https://orcid.org/0000-0002-8437-1911"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bargmann, Daniel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126918966","display_name":"Werner Kraus","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kraus, Werner","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102902943","display_name":"Marco Huber","orcid":"https://orcid.org/0000-0003-3413-6291"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huber, Marco F.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5117604679"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4498000144958496,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4498000144958496,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.09189999848604202,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.08479999750852585,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8282999992370605},{"id":"https://openalex.org/keywords/cable-gland","display_name":"Cable gland","score":0.8270000219345093},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6491000056266785},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5569000244140625},{"id":"https://openalex.org/keywords/empirical-research","display_name":"Empirical research","score":0.47749999165534973},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4609000086784363},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4514000117778778},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4262000024318695}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8282999992370605},{"id":"https://openalex.org/C110925319","wikidata":"https://www.wikidata.org/wiki/Q12855","display_name":"Cable gland","level":2,"score":0.8270000219345093},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6491000056266785},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5569000244140625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4918000102043152},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.47749999165534973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46480000019073486},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4609000086784363},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44830000400543213},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43779999017715454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42649999260902405},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4262000024318695},{"id":"https://openalex.org/C121050878","wikidata":"https://www.wikidata.org/wiki/Q5135020","display_name":"Cloning (programming)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3598000109195709},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.323199987411499},{"id":"https://openalex.org/C180761244","wikidata":"https://www.wikidata.org/wiki/Q354262","display_name":"Cable harness","level":3,"score":0.32170000672340393},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3192000091075897},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.257999986410141},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25270000100135803},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.251800000667572},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2506999969482422}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.22100","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.22100","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.22100","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.22100","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Automating":[0],"the":[1,79],"assembly":[2],"of":[3,81,114,124,156],"wire":[4],"harnesses":[5],"is":[6,138],"challenging":[7],"in":[8,24,66],"automotive,":[9],"electrical":[10],"cabinet,":[11],"and":[12,20,55,107],"aircraft":[13],"production,":[14],"particularly":[15],"due":[16],"to":[17,36,116],"deformable":[18],"cables":[19],"a":[21,64,98,112,125,129],"high":[22],"variance":[23],"connector":[25,91,133,144,148],"geometries.":[26],"In":[27],"addition,":[28],"connectors":[29],"must":[30],"be":[31],"inserted":[32],"with":[33,97,128],"limited":[34],"force":[35],"avoid":[37],"damage,":[38],"while":[39],"their":[40],"poses":[41],"can":[42,47],"vary":[43],"significantly.":[44],"While":[45],"humans":[46],"do":[48],"this":[49],"task":[50,65],"intuitively":[51],"by":[52],"combining":[53],"visual":[54],"haptic":[56],"feedback,":[57],"programming":[58],"an":[59,67,75,86,151],"industrial":[60],"robot":[61,127],"for":[62,84,90],"such":[63],"adaptable":[68],"manner":[69],"remains":[70],"difficult.":[71],"This":[72],"work":[73],"presents":[74],"empirical":[76],"study":[77],"investigating":[78],"suitability":[80],"behavioral":[82],"cloning":[83],"learning":[85],"action":[87],"prediction":[88],"model":[89],"insertion":[92,153],"that":[93],"fuses":[94],"force-torque":[95],"sensing":[96],"fixed":[99],"position":[100],"camera.":[101],"We":[102],"compare":[103],"several":[104],"network":[105],"architectures":[106],"other":[108],"design":[109],"choices":[110],"using":[111],"dataset":[113],"up":[115],"300":[117],"successful":[118],"human":[119],"demonstrations":[120],"collected":[121],"via":[122],"teleoperation":[123],"UR5e":[126],"SpaceMouse":[130],"under":[131,146],"varying":[132,147],"poses.":[134],"The":[135],"resulting":[136],"system":[137],"then":[139],"evaluated":[140],"against":[141],"five":[142],"different":[143],"geometries":[145],"poses,":[149],"achieving":[150],"overall":[152],"success":[154],"rate":[155],"over":[157],"90":[158],"%.":[159]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-27T00:00:00"}