robotics
One Photograph Became Collision Geometry in Half a Second
I2CD predicts convex parts directly, skipping the mesh-repair pipeline before physics simulation and motion planning.
Summary
I2CD predicts convex parts directly, skipping the mesh-repair pipeline before physics simulation and motion planning.
I2CD freezes a pretrained image-to-3D backbone and trains a lightweight head whose tokens emit convex polytopes. On 227 held-out objects, the authors report the highest volumetric overlap among eight compared pipelines and six to 37 times faster end-to-end processing. Four physics engines accepted its delivered geometry without post-processing. In a physical xArm7 experiment, it prepared a twenty-object scene in eleven seconds versus 328 for the strongest baseline, with 85 versus 90 successful picks in one hundred trials. Faster geometry preparation did not improve that measured execution success.
Why it matters
I2CD predicts convex parts directly, skipping the mesh-repair pipeline before physics simulation and motion planning.
Limits and context
- Faster geometry preparation did not improve that measured execution success.
Key claims
I2CD predicts convex parts directly, skipping the mesh-repair pipeline before physics simulation and motion planning.
Qualification: Faster geometry preparation did not improve that measured execution success.
Evidence: source-2026-10-04-011
Sources
- arXiv preprint 2610.03453, original v1arXiv / submitting research authors · primary research
Corrections
: Publication note: This October 4 edition was reconstructed on October 5 after the workstation was offline. It uses original October 2 submissions from the standard Sunday-evening arXiv release, rather than claiming those papers were available for the missed 9 AM run. The date and 9 AM publication slot preserve archive chronology; October 5 developments are excluded. The September 27 Invention Desk is carried over because its replacement was generated October 5.