AssemState: Manual and Physical-State-Guided Reasoning for Zero-shot Furniture Assembly

arXiv:2610.08446v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) have made significant progress in visual understanding, but precise 3D spatial reasoning integrated with physical environment remains difficult. Furniture assembly requires not only recovering step-level operations from diagrammatic manuals, but also translating semantic attachment relations into 6D pose updates that enable parts to physically interact with the environment and previously assembled components. To study this problem, we propose AssemState, a zero-shot framework for manual and physical-state-

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