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Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…
3D reverse engineering is a long sought-after, yet not completely achieved goal in the Computer-Aided Design (CAD) industry. The objective is to recover the construction history of a CAD model. Starting from a Boundary Representation…
Reverse engineering and rapid prototyping of computer-aided design (CAD) models from 3D scans, sketches, or simple text prompts are vital in industrial product design. However, recent advances in geometric deep learning techniques lack a…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
Direct B-Rep generation is increasingly important in CAD workflows, eliminating costly modeling sequence data and supporting complex features. A key challenge is modeling joint distribution of the misaligned geometry and topology. Existing…
Modern 3D Computer-Aided-Design (CAD) systems use mainly two types of geometric models. Classically, objects are defined by a Boundary Representation (B-Rep), where only the objects' surfaces with their corresponding edges and nodes are…
Ensembling deep learning models is a shortcut to promote its implementation in new scenarios, which can avoid tuning neural networks, losses and training algorithms from scratch. However, it is difficult to collect sufficient accurate and…
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
We introduce ABC-Dataset, a collection of one million Computer-Aided Design (CAD) models for research of geometric deep learning methods and applications. Each model is a collection of explicitly parametrized curves and surfaces, providing…
Parametric CAD models, represented as Boundary Representations (B-reps), are foundational to modern design and manufacturing workflows, offering the precision and topological breakdown required for downstream tasks such as analysis,…
Parametric computer-aided design (CAD) is the dominant paradigm in mechanical engineering for physical design. Distinguished by relational geometry, parametric CAD models begin as two-dimensional sketches consisting of geometric primitives…
Machine learning (ML) is increasingly used in structural engineering and design, yet its broader adoption is hampered by the lack of openly accessible datasets of structural systems. We introduce BridgeNet, a publicly available graph-based…
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…
We present Scan2CAD, a novel data-driven method that learns to align clean 3D CAD models from a shape database to the noisy and incomplete geometry of a commodity RGB-D scan. For a 3D reconstruction of an indoor scene, our method takes as…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
While accurate and user-friendly Computer-Aided Design (CAD) is crucial for industrial design and manufacturing, existing methods still struggle to achieve this due to their over-simplified representations or architectures incapable of…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Assembly-based tools provide a powerful modeling paradigm for non-expert shape designers. However, choosing a component from a large shape repository and aligning it to a partial assembly can become a daunting task. In this paper we…