---
_id: '14042'
abstract:
- lang: eng
  text: "This paper investigates co-creativity in architectural robotics through\r\na
    design-research experiment that repositions the robot from a fabrication tool\r\nto
    an active collaborator in spatial exploration. A turn-based assembly process\r\nenables
    a human designer and a robotic arm to alternately place modular bricks\r\nwithin
    a shared three-dimensional environment. Each move is evaluated through\r\ncomputational
    rules—support, stability, and collision—and interpreted in real\r\ntime via an
    AI image-to-image diffusion model. This sequential exchange\r\nestablishes a reciprocal
    design dialogue: the human reads the robot’s action as\r\na spatial proposition,
    while the robot responds to the evolving structure.\r\nCreative agency becomes
    distributed across human and machine, encouraging\r\nreflection on intent and
    positioning robotic intelligence as a source of suggestion\r\nrather than execution.
    By prioritizing responsiveness and interpretation over\r\nefficiency, the research
    challenges conventional file-to-factory paradigms and\r\nframes robotics as an
    active participant in design thinking. It contributes to\r\ndiscussions on human–machine
    collaboration by proposing co-creative robotics\r\nas a framework for rethinking
    authorship in architecture.\r\nKeywords. Human–robot Collaboration, Co-Creation,
    Computational\r\nCreativity, Robotic Fabrication, Artificial Intelligence, Digital
    Fabrication,\r\nGenerative Models, Discrete Assembly, Human–Machine Interaction."
author:
- first_name: Victor
  full_name: Sardenberg, Victor
  last_name: Sardenberg
- first_name: Yusuf
  full_name: Aykin, Yusuf
  id: '84542'
  last_name: Aykin
- first_name: Hans
  full_name: Sachs, Hans
  id: '64589'
  last_name: Sachs
- first_name: Bo
  full_name: Schneider, Bo
  id: '86766'
  last_name: Schneider
citation:
  ama: 'Sardenberg V, Aykin Y, Sachs H, Schneider B. <i>Co-Creative Robotics : Turn-Based
    Human–Robot Assembly for Architectural Design Exploration</i>. Vol 44. 1st ed.
    (eCAADe  eCaade, ed.). CumInCAD; 2026:357-366. doi:<a href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>'
  apa: 'Sardenberg, V., Aykin, Y., Sachs, H., &#38; Schneider, B. (2026). Co-Creative
    Robotics : Turn-Based Human–Robot Assembly for Architectural Design Exploration.
    In  eCaade eCAADe (Ed.), <i>eCAADe 2026 - Informed creativity in architecture
    and engineering </i> (1st ed., Vol. 44, pp. 357–366). CumInCAD. <a href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>'
  bjps: '<b>Sardenberg V <i>et al.</i></b> (2026) <i>Co-Creative Robotics : Turn-Based
    Human–Robot Assembly for Architectural Design Exploration</i>, 1st ed., eCAADe  eCaade
    (ed.). Brussels : CumInCAD.'
  chicago: 'Sardenberg, Victor, Yusuf Aykin, Hans Sachs, and Bo Schneider. <i>Co-Creative
    Robotics : Turn-Based Human–Robot Assembly for Architectural Design Exploration</i>.
    Edited by eCaade eCAADe. <i>ECAADe 2026 - Informed Creativity in Architecture
    and Engineering </i>. 1st ed. Vol. 44. 2. Brussels : CumInCAD, 2026. <a href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>.'
  chicago-de: 'Sardenberg, Victor, Yusuf Aykin, Hans Sachs und Bo Schneider. 2026.
    <i>Co-Creative Robotics : Turn-Based Human–Robot Assembly for Architectural Design
    Exploration</i>. Hg. von eCaade eCAADe. <i>eCAADe 2026 - Informed creativity in
    architecture and engineering </i>. 1. Aufl. Bd. 44. 2. Brussels : CumInCAD. doi:<a
    href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>,
    .'
  din1505-2-1: '<span style="font-variant:small-caps;">Sardenberg, Victor</span> ;
    <span style="font-variant:small-caps;">Aykin, Yusuf</span> ; <span style="font-variant:small-caps;">Sachs,
    Hans</span> ; <span style="font-variant:small-caps;">Schneider, Bo</span> ; <span
    style="font-variant:small-caps;">eCAADe,  eCaade</span> (Hrsg.): <i>Co-Creative
    Robotics : Turn-Based Human–Robot Assembly for Architectural Design Exploration</i>,
    <i>2</i>. Bd. 44. 1. Aufl. Brussels  : CumInCAD, 2026'
  havard: 'V. Sardenberg, Y. Aykin, H. Sachs, B. Schneider, Co-Creative Robotics :
    Turn-Based Human–Robot Assembly for Architectural Design Exploration, 1st ed.,
    CumInCAD, Brussels , 2026.'
  ieee: 'V. Sardenberg, Y. Aykin, H. Sachs, and B. Schneider, <i>Co-Creative Robotics :
    Turn-Based Human–Robot Assembly for Architectural Design Exploration</i>, 1st
    ed., vol. 44. Brussels : CumInCAD, 2026, pp. 357–366. doi: <a href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>.'
  mla: 'Sardenberg, Victor, et al. “Co-Creative Robotics : Turn-Based Human–Robot
    Assembly for Architectural Design Exploration.” <i>ECAADe 2026 - Informed Creativity
    in Architecture and Engineering </i>, edited by eCaade eCAADe, 1st ed., vol. 44,
    CumInCAD, 2026, pp. 357–66, <a href="https://doi.org/10.52842/conf.ecaade.2026.2.357">https://doi.org/10.52842/conf.ecaade.2026.2.357</a>.'
  short: 'V. Sardenberg, Y. Aykin, H. Sachs, B. Schneider, Co-Creative Robotics :
    Turn-Based Human–Robot Assembly for Architectural Design Exploration, 1st ed.,
    CumInCAD, Brussels , 2026.'
  ufg: '<b>Sardenberg, Victor u. a.</b>: Co-Creative Robotics : Turn-Based Human–Robot
    Assembly for Architectural Design Exploration, Bd. 44, hg. von eCAADe, eCaade,
    Brussels  <sup>1</sup>2026 (2).'
  van: 'Sardenberg V, Aykin Y, Sachs H, Schneider B. Co-Creative Robotics : Turn-Based
    Human–Robot Assembly for Architectural Design Exploration. 1st ed. eCAADe  eCaade,
    editor. eCAADe 2026 - Informed creativity in architecture and engineering . Brussels
    : CumInCAD; 2026. (2; vol. 44).'
conference:
  end_date: 2026-09-11
  location: Lübeck
  name: 44thConference on Education and Researchin Computer Aided Architectural Design
    in Europe
  start_date: 2026-09-07
date_created: 2026-09-17T15:06:05Z
date_updated: 2026-09-25T12:46:41Z
ddc:
- '600'
department:
- _id: DEP1055
doi: https://doi.org/10.52842/conf.ecaade.2026.2.357
edition: '1'
editor:
- first_name: eCaade
  full_name: eCAADe, eCaade
  last_name: eCAADe
has_accepted_license: '1'
intvolume: '        44'
keyword:
- Co Creative Robots
- Collaborative Robots
- Design
- Architecture
language:
- iso: eng
page: 357-366
place: 'Brussels '
publication: 'eCAADe 2026 - Informed creativity in architecture and engineering '
publication_identifier:
  isbn:
  - '9789491207426'
  issn:
  - 2684-1843
publication_status: published
publisher: CumInCAD
quality_controlled: '1'
related_material:
  link:
  - relation: research_paper
    url: https://papers.cumincad.org/cgi-bin/works/paper/ecaade2026_93
series_title: '2'
status: public
title: 'Co-Creative Robotics : Turn-Based Human–Robot Assembly for Architectural Design
  Exploration'
type: conference_editor_article
user_id: '83781'
volume: 44
year: '2026'
...
---
_id: '14070'
abstract:
- lang: eng
  text: "Deploying digital twins across the broader building stock is constrained
    by a key bottleneck: high-quality 3D content from LiDAR or photogrammetry remains
    labor-intensive and difficult to scale. We introduce Generative Twins (GT), a
    workflow that shifts digital twin creation from explicit geometric reconstruction
    toward probabilistic 3D synthesis. The pipeline takes a\r\nsingle street-level
    façade photograph, corrects perspective distortion and removes occlusions, uses
    an instruction-conditioned multimodal image model to synthesise an isometric view
    of the building, and passes that view to an image-to-3D reconstruction model that
    leverages learned shape priors to produce a textured mesh without manual modelling.
    Three image to-3D platforms (Hitem3D, Hyper3D and Hunyuan3D 3.1) are compared
    on identical isometric inputs and assessed on architectural boundary clarity.
    We demonstrate GT through two applied cases: (i) reconstruction of ordinary residential
    streets in Detmold as stimuli for a virtual-reality study of multi sensory urban
    perception, and (ii) Green Editor, a design-exploration tool in which façade greenery
    is added or removed at the image layer before mesh generation.\r\nTogether these
    cases position Generative Twins as a scalable pathway for the digitization of
    ordinary building stock, with emphasis on controllability, editability, and iterative
    design workflows."
author:
- first_name: Mohamed Khaled
  full_name: Ashmawy, Mohamed Khaled
  id: '81286'
  last_name: Ashmawy
- first_name: Buse
  full_name: Akay, Buse
  id: '88405'
  last_name: Akay
- first_name: Alvaro
  full_name: Balderrama, Alvaro
  id: '74171'
  last_name: Balderrama
  orcid: 0000-0002-4118-2838
citation:
  ama: 'Ashmawy MK, Akay B, Balderrama A. <i>Towards Generative Twins: An AI Based
    Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis</i>. Vol 1.
    eCAADe; 2026. doi:<a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">10.52842/conf.ecaade.2026.1.619</a>'
  apa: 'Ashmawy, M. K., Akay, B., &#38; Balderrama, A. (2026). Towards Generative
    Twins: An AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis.
    In <i>eCAADe proceedings</i> (Vol. 1). eCAADe. <a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">https://doi.org/10.52842/conf.ecaade.2026.1.619</a>'
  bjps: '<b>Ashmawy MK, Akay B and Balderrama A</b> (2026) <i>Towards Generative Twins:
    An AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis</i>.
    eCAADe.'
  chicago: 'Ashmawy, Mohamed Khaled, Buse Akay, and Alvaro Balderrama. <i>Towards
    Generative Twins: An AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic
    Synthesis</i>. <i>ECAADe Proceedings</i>. Vol. 1. eCAADe, 2026. <a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">https://doi.org/10.52842/conf.ecaade.2026.1.619</a>.'
  chicago-de: 'Ashmawy, Mohamed Khaled, Buse Akay und Alvaro Balderrama. 2026. <i>Towards
    Generative Twins: An AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic
    Synthesis</i>. <i>eCAADe proceedings</i>. Bd. 1. eCAADe. doi:<a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">10.52842/conf.ecaade.2026.1.619</a>,
    .'
  din1505-2-1: '<span style="font-variant:small-caps;">Ashmawy, Mohamed Khaled</span>
    ; <span style="font-variant:small-caps;">Akay, Buse</span> ; <span style="font-variant:small-caps;">Balderrama,
    Alvaro</span>: <i>Towards Generative Twins: An AI Based Pipeline from Explicit
    3D Reconstruction to Probabilistic Synthesis</i>. Bd. 1 : eCAADe, 2026'
  havard: 'M.K. Ashmawy, B. Akay, A. Balderrama, Towards Generative Twins: An AI Based
    Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis, eCAADe, 2026.'
  ieee: 'M. K. Ashmawy, B. Akay, and A. Balderrama, <i>Towards Generative Twins: An
    AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis</i>,
    vol. 1. eCAADe, 2026. doi: <a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">10.52842/conf.ecaade.2026.1.619</a>.'
  mla: 'Ashmawy, Mohamed Khaled, et al. “Towards Generative Twins: An AI Based Pipeline
    from Explicit 3D Reconstruction to Probabilistic Synthesis.” <i>ECAADe Proceedings</i>,
    vol. 1, eCAADe, 2026, <a href="https://doi.org/10.52842/conf.ecaade.2026.1.619">https://doi.org/10.52842/conf.ecaade.2026.1.619</a>.'
  short: 'M.K. Ashmawy, B. Akay, A. Balderrama, Towards Generative Twins: An AI Based
    Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis, eCAADe, 2026.'
  ufg: '<b>Ashmawy, Mohamed Khaled/Akay, Buse/Balderrama, Alvaro</b>: Towards Generative
    Twins: An AI Based Pipeline from Explicit 3D Reconstruction to Probabilistic Synthesis,
    Bd. 1, o. O. 2026.'
  van: 'Ashmawy MK, Akay B, Balderrama A. Towards Generative Twins: An AI Based Pipeline
    from Explicit 3D Reconstruction to Probabilistic Synthesis. Vol. 1, eCAADe proceedings.
    eCAADe; 2026.'
conference:
  end_date: 2026-09-11
  location: Lübeck
  name: 44. eCAADe-Konferenz
  start_date: 2026-09-07
date_created: 2026-09-30T10:14:15Z
date_updated: 2026-10-01T14:28:23Z
department:
- _id: DEP1634
doi: 10.52842/conf.ecaade.2026.1.619
intvolume: '         1'
keyword:
- Digital Twins
- Virtual Reality (VR
- Artificial Intelligence (AI)
- Image-to-3D
- Generative Design.
language:
- iso: eng
publication: eCAADe proceedings
publication_identifier:
  issn:
  - 2684-1843
publication_status: published
publisher: eCAADe
status: public
title: 'Towards Generative Twins: An AI Based Pipeline from Explicit 3D Reconstruction
  to Probabilistic Synthesis'
type: conference_editor_article
user_id: '83781'
volume: 1
year: '2026'
...