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We introduce Manual-PA, a transformer-based framework that leverages diagrammatic assembly manuals to guide both the selection and 6D pose estimation of furniture parts, enabling efficient and realistic 3D assembly by aligning parts with instructional illustrations.

We present Pos3R, a training-free method for estimating the 6D pose of any object from a single RGB image by leveraging a 3D foundation model, eliminating the need for pose supervision or task-specific training.

We introduce a new approach to simultaneously localize a sequence of instructional diagrams in videos by modeling their mutual relationships and temporal order, rather than handling each step independently.

We introduce a new framework and dataset (IAW) for aligning assembly diagrams from instruction manuals with real-world video segments, enabling cross-modal retrieval and step-level alignment between illustrated instructions and assembly actions in videos.

GoferBot is a novel assembly system that seamlessly integrates all sub-modules by utilising implicit semantic information purely from visual perception.