Yuval Lavi

2 accepted papers

2026

Leveraging Two Robotic Arms for Tight Assembly Performance Gains

Dror Livnat, Yuval Lavi, Michael M. Bilevich, Dan Halperin

ICRA 2026poster

We provide a novel end-to-end framework for the execution of an assembly operation by two robotic arms, given the digital CAD models of the parts and their desired relative placement in their assembled state. We analyze and demonstrate the advantages of using two robotic arms simultaneously in tight…

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2025

A Full-Cycle Assembly Operation: From Digital Planning to Trajectory Execution Using a Robotic Arm

Dror Livnat, Yuval Lavi, Dan Halperin

ICRA 2025

We present an end-to-end framework for planning tight assembly operations, where the input is a set of digital models, and the output is a full execution plan for a physical robotic arm, including the trajectory placement and the grasping. The framework builds on our earlier results on tight assembl

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