most citedAnomaly Object Segmentation with Vision-Language Models for Steel Scrap Recycling

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cs.RO2026

Touch2Insert: Zero-Shot Peg Insertion by Touching Intersections of Peg and Hole

Masaru Yajima, Yuma Shin, Rei Kawakami +2

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Visi…

cs.RO2025

Zero-Shot Peg Insertion: Identifying Mating Holes and Estimating SE(2) Poses with Vision-Language Models

Masaru Yajima, Kei Ota, Asako Kanezaki +1

Achieving zero-shot peg insertion, where inserting an arbitrary peg into an unseen hole without task-specific training, remains a fundamental challenge in robotics. This task deman…