# Auto-Assembly: a framework for automated robotic assembly directly from CAD

arXiv: https://arxiv.org/abs/2301.02643 · HTML: https://mlsanity.com/paper/2301.02643/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Jan 2023.

## Built on by (most cited first, 2 of 2)

- [SPAFormer: Sequential 3D Part Assembly with Transformers](https://mlsanity.com/paper/2403.05874/) (2024)
- [Leveraging Pretrained Diffusion Models for Zero-Shot Part Assembly](https://mlsanity.com/paper/2505.00426/) (2025)

## Abstract (arXiv)

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 show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment.