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SketchMate: Building Sketch Models with VLMs for Zero-Shot Precision Insertion

SketchMate has a vision-language model build a sketch model for insertion tasks, consisting of a few geometric primitives and two mating coordinate frames, which a planner and compliant controller then execute. In a strict kinematic test of 69 simulated insertion episodes, the method inserted 88% of parts at the assembled pose, while ReKep and MOKA using the same VLM achieved no successful insertions.

Part of the event: SketchMate: VLM sketch model achieves zero-shot precision insertion

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