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The theme of this paper is computation in Winfree's Abstract Tile Assembly Model (TAM). We first review a simple, well-known tile assembly system (the "wedge construction") that is capable of universal computation. We then extend the wedge construction to prove the following result: if a set of natural numbers is decidable, then it and its complement's canonical two-dimensional representation self-assemble. This leads to a novel characterization of decidable sets of natural numbers in terms of self-assembly. Finally, we show that our characterization is robust with respect to various (restrictive) geometrical constraints.