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title
General Part Assembly Planning
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todo:abstract
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2026-02-16 15:02:59
raw text
General Part Assembly Rearrangement Planning for General Part Assembly Yulong Li 1      Andy Zeng 2      Shuran Song 1 1 Columbia University      2 Google Deepmind Conference on Robot Learning 2023 Paper arXiv Video Code Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the ability to assemble novel target assemblies with unseen part shapes. As a fundamental step to a general part assembly system, we tackle the task of determining the precise poses of the parts in the target assembly, which we we term "rearrangement planning". We present General Part Assembly Transformer (GPAT), a transformer-based model architecture that predicts part poses by inferring how each part corresponds to the target shape (represented by the segmentation). Our experiments on both 3D CAD models and real-world scans demonstra...
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