FunArt is a framework that builds articulation‑aware functional 3D scene graphs from a single static RGB‑D observation. It reconstructs object instances, converts their geometry into the O‑Voxel representation of TRELLIS.2, and uses a frozen sparse‑compression VAE as a structural prior. A lightweight query‑based decoder jointly segments movable parts and functional interactive elements while estimating motion type, axis, origin, and range, achieving state‑of‑the‑art results on the Articulate3D dataset.
By Dennis Rotondi, Abdelrhman Werby, Kai O. Arras
arXiv:2609.19119v1 Announce Type: new
Abstract: Human videos contain rich causal evidence for robot manipulation: they reveal how hand motion induces object motion and produces task-relevant changes...
By Jiaming Zhang, Homanga Bharadhwaj
Artic-O is an end‑to‑end, feed‑forward framework that reconstructs articulated objects from sparse images by learning latent geometry. It maps multi‑state observations into a pretrained latent geometry space, uses a frozen flow‑matching decoder for complete‑shape priors, and fuses visual tokens with geometry latents in an image‑grounded part‑reasoning module to segment active parts and predict articulation. Trained with a geometry‑to‑articulation curriculum and a decoupled two‑pass strategy, Artic‑O achieves high reconstruction quality and articulation accuracy while drastically reducing inference time from 9 minutes to about 0.3 seconds per object.
By Xuyang Wang, Zhenyu Li, Jian Ding, Habib Slim, Peter Wonka, Hongdong Li, Mohamed Elhoseiny
arXiv:2609.38578v1 Announce Type: cross
Abstract: Cross-structural motion retargeting aims to transfer motion between different skeletal topologies. Despite recent progress, existing state-of-the-art...
By Kia-J\"ung Yang, Fabian H. Sinz, Pawe{\l} A. Pierzchlewicz
MoRE introduces a Motion-Regularized Encoding for generating articulated 3D objects from a single image. It encodes joint attributes as coordinate‑aligned joint lines with axis classification and Plücker moment coefficients, and couples attribute reconstruction to motion through a differentiable expectation over joint types and axis directions. Experiments on PartNet‑Mobility and ACD demonstrate improved part‑box agreement, articulated‑state geometry, visual similarity, and reduced joint prediction errors compared to prior methods.
By Guantian Zheng, Shan Jin
arXiv:2609.19142v1 Announce Type: new
Abstract: World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse...
By Bardienus P. Duisterhof, Kaifeng Zhang, Adam Hung, Bowen Wen, Stan Birchfield, Yunzhu Li, Deva Ramanan, Jeffrey Ichnowski
World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a rich prior into do...
arXiv:2606.18558v2 Announce Type: replace
Abstract: Motion forecasting is central to visual intelligence: agents must anticipate how objects will move in order to plan actions, reason about physical...
By Jianing Zhang, Chenhao Zheng, Yajun Yang, Max Argus, Rustin Soraki, Winson Han, Taira Anderson, Chun-Liang Li, Shuo Liu, Jiafei Duan, Zhongzheng Ren, Jieyu Zhang, Ranjay Krishna
arXiv:2609.31595v1 Announce Type: new
Abstract: 3D scene graphs provide a structured representation of complex environments by encoding objects, their semantic attributes, and the spatial and functio...
By Luka Milivojevic, Nikola Popovic, Sayan Deb Sarkar, Sebastian Koch, Iro Armeni, Luc Van Gool, Danda Pani Paudel
arXiv:2606. 29786v2 Announce Type: replace Abstract: 3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments.
By Yirum Kim, Ue-Hwan Kim
FuncBridge is a two‑stage framework that addresses functional generalization in robotics by decoupling functional reasoning from action execution. It learns to predict generalizable 2D keypoint trajectories from action‑free data and then grounds these trajectories into robot actions with limited demonstrations. Across a benchmark of ten tools and three functions—hitting, sweeping, and hooking—FuncBridge outperforms state‑of‑the‑art methods on unseen tools in both simulation and real‑world tests.
By Chuhao Zhou, Liquan Wang, Shuxin Cao, Xiangyu Chen, Yuxuan Hu, Boyu Ma, Animesh Garg, Jianfei Yang
Driven by the availability of large-scale datasets, Human Pose Estimation (HPE) plays a critical role in numerous downstream tasks. However, mainstream benchmarks exhibit severe representation bias, predominantly featuring able-bodied individuals.