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Jiakai Li

Beijing Institute of Technology

5 South Zhongguancun street

Center for Energy and Environmental Policy Researc

Beijing, 100081

China

  • Beijing Institute of Technology

SCHOLARLY PAPERS

2

DOWNLOADS

21

TOTAL CITATIONS

0

Scholarly Papers (2)

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1.

Annotation-Free Peg-in-Hole Assembly via LLM-Guided Multimodal Perception and Bayesian Cylindrical Fitting

Number of pages: 27 Posted: 13 Apr 2026
Xinjian Deng, Jianhua Liu, Hao Gong, Jiakai Li and Shanglin Li
Beijing Institute of Technology, Beijing Institute of Technology, Beijing Institute of Technology, Beijing Institute of Technology and Beijing Institute of Technology
Downloads 15 (1,548,648)

Abstract:

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Peg-in-hole assembly, Large language model, Annotation-free, Point cloud fitting, Robotic assembly, Generalization

2.

Reachability-Constrained Belief-Action-Diagnosis for Safe Tight-Clearance Robotic Peg-in-Hole Assembly

Number of pages: 62 Posted: 28 May 2026
Shanglin Li, Hao Gong, Jianhua Liu, Jiakai Li, Yaping Ren and Yezheng Li
affiliation not provided to SSRN, Beijing Institute of Technology, Beijing Institute of Technology, Beijing Institute of Technology, Jinan University and affiliation not provided to SSRN
Downloads 6 (1,584,314)

Abstract:

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Peg-in-hole assembly, Industrial robotics, Contact-rich manipulation, Multimodal perception, Guarded control, Trial-level diagnosis