mlsanityData to 14 Oct 2026

BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly

arXiv 2506.06221 ↗First posted 6 Jun 2025cs.RO cs.LGcited by 5

Not on the map. Why?

Abstract (arXiv)

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original form (e.g., reconstructing a shattered bowl)--is particularly challenging. This requires the robot to recognize geometric cues for grasping, assembly, and subsequent bimanual collaborative manipulation on varied fragments. In this paper, we exploit the geometric generalization of point-level affordance, learning affordance aware of bimanual collaboration in geometric assembly with long-horizon action sequences. To address the evaluation ambiguity caused by geometry diversity of broken parts, we introduce a real-world benchmark featuring geometric variety and global reproducibility. Extensive experiments demonstrate the superiority of our approach over both previous affordance-based and imitation-based methods. Project page: https://sites.google.com/view/biassembly/.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 54 of its 74 references that are in the map. First posted on arXiv 6 Jun 2025.

Builds on

54 of 74 references.

References · 54

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  3. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 3,080
  4. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  5. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,712
  6. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  7. 2024Depth Anything V2cited by 1,422
  8. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  9. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  10. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 391
  11. 2021Vector Neurons: A General Framework for SO(3)-Equivariant Networkscited by 305
  12. 2023SparseNeRF: Distilling Depth Ranking for Few-shot Novel View Synthesiscited by 247
38 more
  1. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 225
  2. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 182
  3. 2023ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulationcited by 162
  4. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 133
  5. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 116
  6. 2024TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understandingcited by 88
  7. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 80
  8. 2021JoinABLe: Learning Bottom-up Assembly of Parametric CAD Jointscited by 78
  9. 2024Robo-ABC: Affordance Generalization Beyond Categories via Semantic Correspondence for Robot Manipulationcited by 71
  10. 2019IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Taskscited by 69
  11. 2024RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)cited by 69
  12. 2020Generative 3D Part Assembly via Dynamic Graph Learningcited by 67
  13. 2021AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactionscited by 57
  14. 2022Factory: Fast Contact for Robotic Assemblycited by 54
  15. 2020Deep Imitation Learning for Bimanual Robotic Manipulationcited by 50
  16. 2019Efficient Bimanual Manipulation Using Learned Task Schemascited by 45
  17. 2022Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priorscited by 43
  18. 2022Breaking Bad: A Dataset for Geometric Fracture and Reassemblycited by 41
  19. 2023Stabilize to Act: Learning to Coordinate for Bimanual Manipulationcited by 39
  20. 2024JUICER: Data-Efficient Imitation Learning for Robotic Assemblycited by 38
  21. 2023Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objectscited by 35
  22. 2024DiffAssemble: A Unified Graph-Diffusion Model for 2D and 3D Reassemblycited by 33
  23. 2023Jigsaw: Learning to Assemble Multiple Fractured Objectscited by 29
  24. 2023Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assemblycited by 28
  25. 2020A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPycited by 25
  26. 2022Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objectscited by 25
  27. 2023Learning Foresightful Dense Visual Affordance for Deformable Object Manipulationcited by 25
  28. 2023Learning Environment-Aware Affordance for 3D Articulated Object Manipulation under Occlusionscited by 23
  29. 2024UniGarmentManip: A Unified Framework for Category-Level Garment Manipulation via Dense Visual Correspondencecited by 23
  30. 2023IKEA-Manual: Seeing Shape Assembly Step by Stepcited by 22
  31. 2024Re-assembling the past: The RePAIR dataset and benchmark for real world 2D and 3D puzzle solvingcited by 19
  32. 2022DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulationcited by 18
  33. 2021RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environmentcited by 14
  34. 2025Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Modelscited by 14
  35. 2025Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulationcited by 13
  36. 2024PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environmentscited by 11
  37. 20243D Geometric Shape Assembly via Efficient Point Cloud Matchingcited by 9
  38. 2024A Survey on Computational Solutions for Reconstructing Complete Objects by Reassembling Their Fractured Partscited by 9

50 most cited of 54 All 54 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 5.

5 papers.

  1. 2026A3D: Adaptive Affordance Assembly with Dual-Arm Manipulationcited by 3
  2. 2026AssemLM: A Spatial Reasoning Multimodal Large Language Model for Robotic Assemblycited by 2
  3. 2026SARe: Structure-Aware Generative 3D Fragment Reassemblycited by 1
  4. 2026AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulationcited by 0
  5. 2026MagicSim: A Unified Infrastructure for Executable Embodied Interactioncited by 0