PVRA: A Pointwise Key-point Voting Framework for Robotic Assembly

• URL: http://arxiv.org/abs/2608.19968v1
• Date: Thu, 20 Aug 2026 12:43:07 GMT
• Title: PVRA: A Pointwise Key-point Voting Framework for Robotic Assembly
• Abstract summary: We present a 3D keypoint-based modular learning framework to learn assembly dependencies to infer actionable outputs.<n>We train and evaluate our trained network on an assembly pose estimation dataset and compare it against object-centric baselines.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Modern computer vision has enabled partial autonomy in robotic assembly manipulation. However, performing autonomous manipulation of a progressive assembly demands a more specific set of skills, in addition to perceiving the objects. Through a comparative analysis of research in the associated domains, we deduce that object-centric perception must advance towards learning assembly dependencies to predict meaningful actionable outputs for autonomous assembly manipulation. Subsequently, we present a 3D keypoint-based modular learning framework to learn assembly dependencies to infer actionable outputs given a RGB-D input of an assembly scene. We train and evaluate our trained network on an assembly pose estimation dataset and compare it against object-centric baselines with an augmented set of metrics for progressive assemblies.

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