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title
Form2Fit
description
Learning generalizable policies for robotic kit assembly.
site name
author
updated
2025-12-20 22:00:05
raw text
Form2Fit Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly Blog Paper Video Code Slides Is it possible to learn policies for robotic assembly that can generalize to new objects? In this work, we propose to formulate the kit assembly task as a shape matching problem, where the goal is to learn a shape descriptor that establishes geometric correspondences between object surfaces and their target placement locations from visual input. This formulation enables the model to acquire a broader understanding of how shapes and surfaces fit together for assembly -- allowing it to generalize to new objects and kits. To obtain training data for our model, we present a self-supervised data-collection pipeline that obtains ground truth object-to-placement correspondences by disassembling complete kits. Our resulting real-world system, ...
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