OmniCAD: A Large-Scale Benchmark for 3D Spatial Reasoning in Robotics Assemblies
Recent vision-language models (VLMs) show strong capabilities in robotic perception and spatial reasoning, yet their ability to reason about complex mechanical assemblies remains underexplored. We introduce OmniCAD, a large-scale benchmark for assembly-aware 3D spatial reasoning across diverse industrial systems, including robotic mechanisms, automotive components, aerospace structures, and agricultural machinery. OmniCAD contains 25k mechanical assemblies, with an average of 12 parts per assembly and 21 types of mate relationships. Each assembly includes a human-verified ground-truth 3D model and renderings from 20 viewpoints. The benchmark evaluates three capabilities: (1) component-lev...
| Authors | Mingjia Wang, Taiting Lu, Ziwei Dong et al. |
|---|---|
| Primary category | cs.CV |
| Published | 23 August 2026 |
| Last updated at source | 23 August 2026 |
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