Structure Assembly and Disassembly

Having estimated the structure of an assembly from an image, we generate a complete and compact description of that structure in English (subject to fixed grid size). This description can then drive robotic manipulation of the stucture. We can both assemble and disassemble a structure from its natural-language description.

Estimated Struture

Natural-Language Description

Assembly from Description

Disassembly from Description

Some wall has some window.
Some window exists.
Some door exists.
Two windows exist.
Seven doors exist.
Some solid three-high wall exists.
Three walls are one-wide.
Five walls are solid.
Five walls are two-high.

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