mlsanityData to 7 Oct 2026

Rearrangement Planning for General Part Assembly

arXiv 2307.00206 ↗First posted 1 Jul 2023cs.RO cs.AIcited by 12

Not on the map. Why?

Abstract (arXiv)

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 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 accurately predicts part poses by inferring how each part shape corresponds to the target shape. Our experiments on both 3D CAD models and real-world scans demonstrate GPAT's generalization abilities to novel and diverse target and part shapes.

Key facts. Cited by 12 papers in the map (data through 7 Oct 2026). Builds on 28 of its 39 references that are in the map. First posted on arXiv 1 Jul 2023.

Builds on

28 of 39 references.

References · 28

  1. 2017Attention Is All You Needcited by 59,932
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  4. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  5. 2018Dynamic Graph CNN for Learning on Point Cloudscited by 2,220
  6. 2020Point Transformercited by 1,462
  7. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 521
  8. 2020Transporter Networks: Rearranging the Visual World for Robotic Manipulationcited by 342
  9. 2019Deep Closest Point: Learning Representations for Point Cloud Registrationcited by 318
  10. 2022Geometric Transformer for Fast and Robust Point Cloud Registrationcited by 200
  11. 2016Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registrationcited by 159
  12. 2020Rearrangement: A Challenge for Embodied AIcited by 153
16 more
  1. 2015Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocolscited by 98
  2. 2021A comprehensive survey on point cloud registrationcited by 84
  3. 2020Generative 3D Part Assembly via Dynamic Graph Learningcited by 65
  4. 2016A Large Dataset of Object Scanscited by 64
  5. 2019Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassemblycited by 51
  6. 2020Learning 3D Part Assembly from a Single Imagecited by 51
  7. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  8. 2019PartNet: A Recursive Part Decomposition Network for Fine-grained and Hierarchical Shape Segmentationcited by 44
  9. 2022Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priorscited by 42
  10. 2021RGL-NET: A Recurrent Graph Learning framework for Progressive Part Assemblycited by 35
  11. 2020Learning to Group: A Bottom-Up Framework for 3D Part Discovery in Unseen Categoriescited by 29
  12. 2018Learning Robotic Assembly from CADcited by 21
  13. 2022Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learningcited by 21
  14. 2021RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environmentcited by 13
  15. 2021Robotic additive construction of bar structures: Unified sequence and motion planningcited by 3
  16. 2022AssembleRL: Learning to Assemble Furniture from Their Point Cloudscited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 4; 2025: 4; 2026: 3.

12 papers.

  1. 2025Rectified Point Flow: Generic Point Cloud Pose Estimationcited by 13
  2. 2025Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulationcited by 12
  3. 2024SPAFormer: Sequential 3D Part Assembly with Transformerscited by 11
  4. 2024Manual-PA: Learning 3D Part Assembly from Instruction Diagramscited by 6
  5. 2023Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selectioncited by 5
  6. 2024SCANet: Correcting LEGO Assembly Errors with Self-Correct Assembly Networkcited by 3
  7. 2026AssemblyBench: Physics-Aware Assembly of Complex Industrial Objectscited by 2
  8. 2024Component Selection for Craft Assembly Taskscited by 1
  9. 2025Query-Centric Diffusion Policy for Generalizable Robotic Assemblycited by 0
  10. 2025Prompt2Craft: Generating Functional Craft Assemblies with LLMscited by 0
  11. 2026PVRA: A Pointwise Key-point Voting Framework for Robotic Assemblycited by 0
  12. 2026PART: Learning 3D Part Assembly and Retrieval with Transformerscited by 0