Humans exhibit the remarkable ability to form abstract object representations from few exemplars, a feat not yet matched by state-of-the-art artificial neural networks. Using a habituation-dishabituation paradigm, we tested whether object learning early in human life is made possible via the medial axis of an object, known as its "shape skeleton". Shape skeletons may be ideally suited for rapid object learning because they provide a summary description of an object's internal structure, which is robust to viewpoint changes and noisy contours. Across two experiments, infants (Mage= 9.29 months; N = 82) categorized unfamiliar objects by their skeletons following exposure to a single exemplar. Their performance was robust to changes in the component parts of the objects, differences in image-level properties, and even when the coarse spatial relations of object parts were not diagnostic of category. These findings suggest a robust, and early-developing, perceptual mechanism by which objects are quickly categorized.