I2CD: Direct Image-to-Convex Decomposition for Simulation-Ready Collision Geometry
Physics simulators and motion planners require convex collision geometry, yet image-to-3D generative models output dense, frequently non-manifold visual meshes. Bridging the two today takes a slow, brittle reconstruct-then-decompose pipeline of repair, decimation, and approximate convex decomposition. We present I2CD, which predicts a convex decomposition directly from a single RGB image. Rather than train a new image-to-3D model, I2CD freezes the pretrained Hunyuan3D-2 image-conditioned diffusion transformer and shape decoder and trains only a lightweight cross-attention head (38M parameters, under ten GPU-hours) whose learned "convex-slot" tokens emit the halfplane parameters of $K$ con...
| Authors | Qian Wang, Liam Merz Hoffmeister, Brian Scassellati et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 October 2026 |
| Last updated at source | 2 October 2026 |
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