arXiv AI June 18, 2026 By Xinze Zhang

URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification

arXiv:2606. 18861v1 Announce Type: cross Abstract: Reconstructing simulation-ready digital twins of articulated objects from sensor observations remains constrained by two persistent gaps: (i) part-level geometric reconstruction is decoupled from kinematic-parameter estimation, and (ii) the recovered models often violate basic dynamic invariants such as energy conservation, leading to drift when the URDF is replayed in physics simulators.

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arXiv Computer Vision

Sep 1

Biomechanical 3D Body: Self-Supervised Distillation of Biomechanical Pose from a 3D Body Foundation Model

arXiv:2608.29928v1 Announce Type: new Abstract: State-of-the-art monocular body recovery methods predict mesh vertices and angles on the corresponding kinematic tree, but their outputs lack biomechan...

By R. James Cotton, J. D. Peiffer, Lucinda Williamson, John Leske, Georgios Pavlakos

efficiency benchmarks

arXiv Computer Vision

Aug 25

$\phi$-Scene: Physically Grounded Image-to-3D Scene Reconstruction

arXiv:2606.21596v2 Announce Type: replace Abstract: Recent image-to-3D scene methods recover high-fidelity 3D objects with plausible arrangements, but often leave floatings and interpenetrations that...

By Haodong Li, Lulu Shao, Haolin Lu, Yu Fu, Yen-Ru Chen, Seemandhar Jain, Manmohan Chandraker

benchmarks safety

arXiv Computer Vision

4d ago

CoDimRecon: Agentic Reconstruction of Sim-Ready 3D Scenes with Deformable Curves, Surfaces, and Volumes

arXiv:2609.36024v1 Announce Type: new Abstract: Reconstructing simulation-ready 3D scenes from real-world observations enables robotics, gaming, and immersive applications, yet existing methods large...

By Shuzhao Xie, Lelin Wang, Guying Lin, Zhi Wang, Minchen Li

agents robotics

arXiv Computer Vision

6d ago

Track2Art: Articulated Object Model Recovery with Visual-Geometric Track Representations

arXiv:2609.27675v2 Announce Type: replace Abstract: Understanding articulated objects is fundamental for robotic interaction, requiring accurate rigid-part discovery and the recovery of their kinemat...

By Xiaotong Li, Yixiong Jing, Junsheng Ding, Weihang Li, Benjamin Busam, Guangming Wang, Brian Sheil

robotics

arXiv AI

4d ago

FACT: Fidelity-Aware Construction of Articulated Twins

arXiv:2609.37067v1 Announce Type: cross Abstract: Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Constr...

By Kuixiang Shao, Chuansen Nie, Yinuo Bai, Jiayuan Gu, Jingyi Yu

agents

arXiv AI

Jul 1

A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting

arXiv:2509. 15443v2 Announce Type: replace-cross Abstract: Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collections.

By Xingyu Chen, Hanyu Wu, Sikai Wu, Mingliang Zhou, Diyun Xiang, Haodong Zhang, Yangchen Zhou, Yukang Gao, Yi Gu, Renjing Xu

diffusion robotics efficiency safety

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Biomechanical 3D Body: Self-Supervised Distillation of Biomechanical Pose from a 3D Body Foundation Model

$\phi$-Scene: Physically Grounded Image-to-3D Scene Reconstruction

CoDimRecon: Agentic Reconstruction of Sim-Ready 3D Scenes with Deformable Curves, Surfaces, and Volumes

Track2Art: Articulated Object Model Recovery with Visual-Geometric Track Representations

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A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting