Systems and methods for learning software assisted, fixtureless object pickup and placement include a machine vision system to scan a part for pickup to measure target points at said part, retrieves weighted desired target points for the part from a controller, and performs an iterative analysis to determine a best fit solution for moving the part within a predetermined range of the desired target points. The best fit solution being determined by fitting vectors between each of the desired target points and the measured target points to develop a solution set. The best fit solution having the overall shortest length when said vectors are summed while prioritizing relatively higher weighted desired target points.