OmniCAD: A Large-Scale Benchmark for 3D Spatial Reasoning in Robotics Assemblies

2026-08-23

AI Summary

OmniCAD通过提供25k个机械组件的大型基准，解决复杂机械组装中的3D空间推理问题，评估视觉-语言模型在部件定位、关系识别和工具增强推理方面的能力。

Abstract

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-level 3D spatial reasoning, requiring prediction of part positions and orientations; (2) part-to-part relational reasoning, requiring identification of mating relationships and assembly constraints; and (3) tool-augmented agentic reasoning, where models iteratively select viewpoints, inspect visual evidence, and refine predictions. Experiments show that current VLMs struggle with industrial assembly reasoning, often producing inaccurate poses, invalid mating relationships, part interpenetration, and degraded performance as assembly complexity increases. We will open-source the benchmark, evaluation code, and tool interfaces to support research on accurate, physically valid, and scalable 3D assembly reasoning.

Problem

• 3D spatial reasoning
• mechanical assemblies
• vision-language models
• assembly constraints
• industrial systems

Innovation

• 3D Spatial Reasoning
• Mechanical Assemblies
• Vision-Language Models
• Assembly-Aware
• Tool-Augmented Reasoning