2 papers
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…