BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original form (e.g., reconstructing a shattered bowl)--is particularly challenging. This requires the robot to recognize geometric cues for grasping, assembly, and subsequent bimanual collaborative manipulation on varied fragments. In this paper, we exploit the geometric generalization of point-level affordance, learning affordance aware of bimanual collaboration in geometric assembly with long-horizon action sequences. To address the evaluation ambiguity caused by geometry diversity of broken parts, we introduce a real-world benchmark featuring geometric variety and global reproducibility. Extensive experiments demonstrate the superiority of our approach over both previous affordance-based and imitation-based methods. Project page: this https URL.
View on arXiv@article{shen2025_2506.06221,
title={ BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly },
author={ Yan Shen and Ruihai Wu and Yubin Ke and Xinyuan Song and Zeyi Li and Xiaoqi Li and Hongwei Fan and Haoran Lu and Hao dong },
journal={arXiv preprint arXiv:2506.06221},
year={ 2025 }
}