Yotto Koga

Alexander Htet Kyaw, Richa Gupta, Dhruv Shah et al.

Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with vision-language models (VLMs) to enable the robotic assembly of multi-component objects from natural language. Our method leverages VLMs for zero-shot, multi-modal reasoning about geometry and functionality to decompose AI-generated meshes into multi-component 3D models using predefined structural and panel components. We demonstrate that a VLM is capable of determining which mesh regions need panel components in addition to structural components, based on the object's geometry and functionality. Evaluation across test objects shows that users preferred the VLM-generated assignments 90.6% of the time, compared to 59.4% for rule-based and 2.5% for random assignment. Lastly, the system allows users to refine component assignments through conversational feedback, enabling greater human control and agency in making physical objects with generative AI and robotics.

Vaibhav Saxena, Kamal Rahimi Malekshan, Linh Tran et al.

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a discriminative setup where the model filters useful information to infer the exact pose of the object. While such methods offer accurate poses, the model does not store enough information to generalize to new objects. In this work, we address the generalization capability of pose estimation using models that contain enough information about the object to render it in different poses. We follow the line of work that inverts neural renderers to infer the pose. We propose i-$σ$SRN to maximize the information flowing from the input pose to the rendered scene and invert them to infer the pose given an input image. Specifically, we extend Scene Representation Networks (SRNs) by incorporating a separate network for density estimation and introduce a new way of obtaining a weighted scene representation. We investigate several ways of initial pose estimates and losses for the neural renderer. Our final evaluation shows a significant improvement in inference performance and speed compared to existing approaches.