mlsanityData to 14 Oct 2026

Geometric 2D Scene Graph Generation

arXiv 2607.22325 ↗First posted 24 Jul 2026cs.CV cs.ROcited by 0

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Abstract (arXiv)

In production processes for consumer products, assembly instructions are essential not only for planning but also for executing the production process. Likewise in robotics, it is crucial for an assembly robot to understand how components fit together and can be assembled. To facilitate these tasks, we contribute a method for constructing scene graphs to represent and characterize assembly relationships between components. Our approach does not rely on semantic data and is capable of handling a very small dataset. To realize this, the output of a Faster R-CNN model is used to create geometric representations, which are then processed by a transformer architecture to generate an adjacency matrix. This matrix serves as input to a Siamese network that uses message passing based on an attentional graph convolutional network (aGCN) architecture to characterize the connections between the components. We validate our method on a study dataset of toy model components which can be assembled into transportation vehicles.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 40 of its 49 references that are in the map. First posted on arXiv 24 Jul 2026.

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40 of 49 references.

References · 40

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28 more
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