相关论文: Assembler: Scalable 3D Part Assembly via Anchor Po…
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…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
We introduce SPAFormer, an innovative model designed to overcome the combinatorial explosion challenge in the 3D Part Assembly (3D-PA) task. This task requires accurate prediction of each part's poses in sequential steps. As the number of…
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…
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…
3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…
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…
Multi-view image diffusion models have significantly advanced open-domain 3D object generation. However, most existing models rely on 2D network architectures that lack inherent 3D biases, resulting in compromised geometric consistency. To…
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…
We introduce PartCrafter, the first structured 3D generative model that jointly synthesizes multiple semantically meaningful and geometrically distinct 3D meshes from a single RGB image. Unlike existing methods that either produce…
We tackle the problem of text-driven 3D generation from a geometry alignment perspective. Given a set of text prompts, we aim to generate a collection of objects with semantically corresponding parts aligned across them. Recent methods…
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),…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Geometric fracture assembly presents a challenging practical task in archaeology and 3D computer vision. Previous methods have focused solely on assembling fragments based on semantic information, which has limited the quantity of objects…
Recently, the emergence of diffusion models has opened up new opportunities for single-view reconstruction. However, all the existing methods represent the target object as a closed mesh devoid of any structural information, thus neglecting…
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…
Reassembly tasks play a fundamental role in many fields and multiple approaches exist to solve specific reassembly problems. In this context, we posit that a general unified model can effectively address them all, irrespective of the input…
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…
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,…
3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in…