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arXiv2026

Easy-3Dfy: Object-Level Geometric Composition for Single-Image 3D Scene Construction

Single-image 3D scene construction is a fundamental problem in 3D vision. Recent methods such as SAM-3Dfy enable end-to-end reconstruction of 3D assets and their scene layouts, but still struggle with fine-grained scene geometry and asset quality. Meanwhile, specialized 3D object generators provide detailed object geometry, while 3D foundation models offer strong and generalizable spatial understanding. We propose Easy-3Dfy, a compositional workflow that decouples object generation from scene layout estimation, allowing specialized models to fully exploit their respective strengths. An RPF-based aligner then bridges these capabilities by establishing geometric correspondence between object-local meshes and partial scene pointmaps, recovering object layout for scene composition. Without requiring complete scene-level supervision, the proposed workflow consistently outperforms SAM-3Dfy across multiple geometric metrics on Scene-Maker and 3D-FUTURE200. Our results demonstrate that explicit geometric composition can effectively combine high-quality object generation with strong spatial understanding, while enabling the workflow to benefit independently from advances in both 3D object generation and foundation models.

cs.CV↗

arXiv2026

MEMOBench: A Process Level Memory Benchmark for Robotic Manipulation

Robotic manipulation often requires acting on information that is no longer visible, yet Vision-Language-Action policies are usually evaluated when the current observation largely determines the next action. Existing robotic memory benchmarks expose this gap, but they still rely mainly on final task success and therefore conflate forgetting with manipulation failure. We present \textbf{MEMOBench}, a benchmark for process level memory evaluation in robotic manipulation. MEMOBench includes 30 history dependent tasks, 1{,}500 expert demonstrations, and 4{,}200 executable checkpoint instances from 84 templates. Each checkpoint pairs coarse to fine language with a simulator predicate and labels one memory operation: Storage, Update, or Compression. These annotations define Memory Storage Rate, Memory Update Rate, and Memory Compression Rate, which measure memory fidelity alongside task success. Across standard and memory augmented VLA policies, the strongest memory module baseline reaches only 31.9\% average success rate, and high storage often coexists with weak update and compression. Checkpoint language also supervises semantic, contrastive, and framewise memory alignment objectives, yielding modest gains across different memory operations. MEMOBench provides a diagnostic evaluation suite and training supervision for memory grounded robotic policies. The project page is available at https://github.com/Collab-Gen/MEMOBench.

cs.RO↗