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arXiv · 2601.00759

Unified Primitive Proxies for Structured Shape Completion

Zhaiyu Chen·Yuqing Wang·Xiao Xiang Zhu
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Abstract

Structured shape completion recovers missing geometry as primitives rather than as unstructured points, which enables primitive-based surface reconstruction. Instead of following the prevailing cascade, we rethink how primitives and points should interact, and find it more effective to decode primitives in a dedicated pathway that attends to shared shape features. Following this principle, we present UniCo, which in a single feed-forward pass predicts a set of primitives with complete geometry, semantics, and inlier membership. To drive this unified representation, we introduce primitive proxies, learnable queries that are contextualized to produce assembly-ready outputs. To ensure consistent optimization, our training strategy couples primitives and points with online target updates. Across synthetic and real-world benchmarks with four independent assembly solvers, UniCo consistently outperforms recent baselines, lowering Chamfer distance by up to 50% and improving normal consistency by up to 7%. These results establish an attractive recipe for structured 3D understanding from incomplete data. Project page: https://unico-completion.github.io.

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Zhaiyu Chen, Yuqing Wang, Xiao Xiang Zhu. 2026-01-02. Unified Primitive Proxies for Structured Shape Completion. https://arxiv.org/abs/2601.00759

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