Learning Convex Decomposition via Feature Fields

Abstract

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world learning of convex decomposition. Our method produces high-quality decompositions of 3D shapes into a union of convex bodies, which are essential to accelerate collision detection in physical simulation, amongst many other applications.The key insight is to adopt a feature learning approach and learn a continuous feature field that can later be clustered to yield a good convex decomposition via our self-supervised, purely-geometric objective derived from the classical definition of convexity.Our formulation can be used for single shape optimization, but more importantly, feature prediction unlocks scalable, self-supervised learning on large datasets resulting in the first learned open-world for convex decomposition.Experiments show that our decompositions are higher-quality than alternatives and generalize across open-world objects as well as across representations to meshes, CAD models, and even Gaussian splats.