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This paper introduces Geometric Primary Structure (GPS), a new representation for articulated parts perception in robot manipulation, enabling efficient VR-based annotation and achieving a 73% success rate without fine-tuning.
A developer built a pipeline that uses an LLM as a structured code compiler to generate Blender Python code, producing 3D objects with functional, articulated parts instead of monolithic meshes. The tool is open-source and LLM-agnostic.