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Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
We introduce COALESCE, the first data-driven framework for component-based shape assembly which employs deep learning to synthesize part connections. To handle geometric and topological mismatches between parts, we remove the mismatched…
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…
Assembly modeling is a core task of computer aided design (CAD), comprising around one third of the work in a CAD workflow. Optimizing this process therefore represents a huge opportunity in the design of a CAD system, but current research…
We describe our work on inferring the degrees of freedom between mated parts in mechanical assemblies using deep learning on CAD representations. We train our model using a large dataset of real-world mechanical assemblies consisting of CAD…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Assembling objects from parts requires understanding multimodal instructions, linking them to 3D components, and predicting physically plausible 6-DoF motions for each assembly step. Existing datasets focus on simplified scenarios,…
Automated assembly of 3D fractures is essential in orthopedics, archaeology, and our daily life. This paper presents Jigsaw, a novel framework for assembling physically broken 3D objects from multiple pieces. Our approach leverages…
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…
Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Autonomous part assembly is a challenging yet crucial task in 3D computer vision and robotics. Analogous to buying an IKEA furniture, given a set of 3D parts that can assemble a single shape, an intelligent agent needs to perceive the 3D…
The rise of simulation environments has enabled learning-based approaches for assembly planning, which is otherwise a labor-intensive and daunting task. Assembling furniture is especially interesting since furniture are intricate and pose…
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
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…
Image-guided object assembly represents a burgeoning research topic in computer vision. This paper introduces a novel task: translating multi-view images of a structural 3D model (for example, one constructed with building blocks drawn from…
The CAD design process includes a number of repetitive steps when creating assemblies. This issue is compounded when engineering whole product lines or design families, as steps like inserting parts common to all variations, such as…
Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…
This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…