End-to-End Autonomous Generation of Human Assembly Plans

arXiv:2610.09781 · cs.RO, cs.GR · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.GR

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/IDEALLab/AssembleX

Terminology

• Accuracy — 9× in this paper · explained in 1 episode
• Benchmark — 9× in this paper · explained in 2 episodes
• Alignment — 5× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Verifier — 4× in this paper · explained in 2 episodes
• ACM Symposium on Computational Fabrication — 3× in this paper
• Core — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• LLM-as-a-Judge — 2× in this paper · explained in 3 episodes
• Objective Function — 2× in this paper · explained in 2 episodes
• AI Agents — 1× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Agentic Architecture — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Disassembly Interference Graph — 1× in this paper
• Elias — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• LLM judge — 1× in this paper · explained in 2 episodes
• Non-Directional Blocking Graph — 1× in this paper
• Pruning — 1× in this paper · explained in 4 episodes
• Through Design for Assembly — 1× in this paper
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Physics-in-the-Loop: A Hybrid Agentic Architecture for Validated CAD Engineering Design
• MUSE: Benchmarking Manufacturable, Functional, and Assemblable Text-to-CAD Generation
• A Survey on LLM-as-a-Judge
• Judge's Verdict: A Comprehensive Analysis of LLM Judge Capability Through Human Agreement
• A Unified Framework for Automated Assembly Sequence and Production Line Planning using Graph-based Optimization
• OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models
• CAD-Llama: Leveraging Large Language Models for Computer-Aided Design Parametric 3D Model Generation
• ArtiCAD: Articulated CAD Assembly Design via Multi-Agent Code Generation
• IKEA Object State Dataset: A 6DoF object pose estimation dataset and benchmark for multi-state assembly objects
• Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning

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