Simulation geometryExpert
I2CD: Direct Image-to-Convex Decomposition for Simulation-Ready Collision Geometry
This preprint presents I2CD, a method that turns a single RGB image into simulation-ready convex collision geometry by freezing a pretrained Hunyuan3D-2 image-to-3D model and training a small 38M-parameter head. On 227 held-out objects it achieves the best volumetric IoU (65.7%) among eight reconstruction-plus-decomposition baselines and runs 6–37x faster end-to-end (about 0.5 seconds per image). In physical xArm7 pick-and-place, it reduces the time to planner-ready scene geometry from 328 seconds to 11 seconds with 85/100 vs 90/100 success.