Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Kevin Zakka,Andy Zeng,Johnny Lee,Shuran Song,Kevin Zakka,Andy Zeng,Johnny Lee,Shuran Song
Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to generalize to new objects without 3D CAD models or task-specific training data. In this work, we propose to formulate the kit assembly task as a shape matching pro...
