Text to Robotic Assembly of Multi Component Objects using 3D Generative AI and Vision Language Models

Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with vision-language models (VLMs) to enable the robotic assembly of multi-component objects from natural language. Our method leverages VLMs for zero-shot, multi-modal reasoning about geometry and functionality to decompose AI-generated meshes into multi-component 3D models using predefined structural and panel components. We demonstrate that a VLM is capable of determining which mesh regions need panel components in addition to structural components based on object functionality. Evaluation across test objects shows that users preferred the VLM-generated assignments 90.6\% of the time, compared to 59.4\% for rule-based and 2.5\% for random assignment. Lastly, the system allows users to refine component assignments through conversational feedback, enabling greater human control and agency in making physical objects with generative AI and robotics. Requests for name changes in the electronic proceedings will be accepted with no questions asked. However name changes may cause bibliographic tracking issues. Authors are asked to consider this carefully and discuss it with their co-authors prior to requesting a name change in the electronic proceedings. Use the "Report an Issue" link to request a name change. Do not remove: This comment is monitored to verify that the site is working properly