Human-designed visual manuals are crucial components in shape assembly
activities. They provide step-by-step guidance on how we should move and
connect different parts in a convenient and physically-realizable way. While
there has been an ongoing effort in building agents that perform assembly
tasks, the information in human-design manuals has been largely overlooked. We
identify that this is due to 1) a lack of realistic 3D assembly objects that
have paired manuals and 2) the difficulty of extracting structured information
from purely image-based manuals. Motivated by this observation, we present
IKEA-Manual, a dataset consisting of 102 IKEA objects paired with assembly
manuals. We provide fine-grained annotations on the IKEA objects and assembly
manuals, including decomposed assembly parts, assembly plans, manual
segmentation, and 2D-3D correspondence between 3D parts and visual manuals. We
illustrate the broad application of our dataset on four tasks related to shape
assembly: assembly plan generation, part segmentation, pose estimation, and 3D
part assembly.

本文介绍了 IKEA-Manual 数据集，提供了 102 个 IKEA 物体的图形化组装手册，包含细致全面的注释，以解决目前在构建能够执行装配任务的代理时，忽略了人类设计手册的信息的问题。该数据集有助于提高组装计划生成、部件分割、姿态估计和 3D 部件组装的效率。