Related papers: Manual-PA: Learning 3D Part Assembly from Instruct…
Creating realistic styled spaces is a complex task, which involves design know-how for what furniture pieces go well together. Interior style follows abstract rules involving color, geometry and other visual elements. Following such rules,…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…
Assembly planning is a difficult problem for companies. Many disciplines such as design, planning, scheduling, and manufacturing execution need to be carefully engineered and coordinated to create successful product assembly plans. Recent…
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…
Generative 3D part assembly involves understanding part relationships and predicting their 6-DoF poses for assembling a realistic 3D shape. Prior work often focus on the geometry of individual parts, neglecting part-whole hierarchies of…
This paper introduces a vision-based framework for capturing and understanding human behavior in industrial assembly lines, focusing on car door manufacturing. The framework leverages advanced computer vision techniques to estimate workers'…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
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…
In this paper, we revisit the long-standing problem of automatic reconstruction of 3D objects from single line drawings. Previous optimization-based methods can generate compact and accurate 3D models, but their success rates depend heavily…
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…
Material understanding is critical for design, geometric modeling, and analysis of functional objects. We enable material-aware 3D shape analysis by employing a projective convolutional neural network architecture to learn material- aware…
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…
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…
Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…
The IKEA Furniture Assembly Environment is one of the first benchmarks for testing and accelerating the automation of complex manipulation tasks. The environment is designed to advance reinforcement learning from simple toy tasks to complex…
3D image segmentation plays an important role in biomedical image analysis. Many 2D and 3D deep learning models have achieved state-of-the-art segmentation performance on 3D biomedical image datasets. Yet, 2D and 3D models have their own…
Understanding assembly instruction has the potential to enhance the robot s task planning ability and enables advanced robotic applications. To recognize the key components from the 2D assembly instruction image, We mainly focus on…
Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling a chair's semantic parts like legs into a whole chair),…
Decomposing 3D assets into material parts is a common task for artists, yet remains a highly manual process. In this work, we introduce Select Any Material (SAMa), a material selection approach for in-the-wild objects in arbitrary 3D…