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Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song, ICRA 2020, ★ Best Paper Award in Automation Finalist ★ project page / blog post / arXiv / code / slides We leverage visual geometric shape descriptors in the kit assembly task, with a nifty self-supervised data collection pipeline based on time-reversed disassembly, to create Form2Fit, a robotic system that can assemble novel objects and kits. |
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