The accretion and primordial differentiation of the terrestrial planets set the initial conditions for the subsequent evolution of their cores and mantles. Geochemical and isotopic observations alongside experiments constrain the timescales and conditions of planet formation. However, to interpret these observations, we must understand physical processes over a wide range of time and length scales, from centimeter-scale chemical transfers and giant collisions at the planetary scale, up to large-scale transport and planetary migration within the solar protoplanetary disk. Thanks to advances in sample analysis, experiments, and modelling, integrated models of planetary growth have recently emerged. For this interdisciplinary session we invite contributions from (isotope) geo- and cosmochemistry, mineral physics, geochronology, fluid dynamics, and astrophysics that address the formation of rocky planets, including the processes and timescales of planetary accretion and core formation, as well as (giant) impacts, pebble accretion, magma oceans, metal-silicate equilibration, primordial heterogeneities, lunar origin, and late accretion.