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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/bke0oxrt6vfqoiuxutiksfhii
- Original: https://arxiv.org/abs/2610.41844

## Summary

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.