Artic-O: End-to-End Articulated Object Reconstruction via Latent Geometry Learning
Updated 51 min ago · first seen 11 Sept 2026
paper_01M294H3AWX9E7RQK8YTVHT6J5
- Published
- 11 Sept 2026
- T1 · 51 min ago
- arXiv
- 2606.21938
- T1 · 51 min ago
- Category
- cs.CV
- T1 · 51 min ago
Abstract
Reconstructing articulated objects from sparse images requires recovering complete geometry, movable parts, and motion parameters. Recent methods typically separate geometry reconstruction, part reasoning, and articulation estimation into different stages. This separation can weaken consistency between shape, active parts, and motion, while also incurring substantial inference cost. We introduce Artic-O, an end-to-end, feed-forward framework for articulated object reconstruction via latent geometry learning. Instead of fitting geometry in image or view space, Artic-O maps sparse multi-state observations into a pretrained latent geometry space, where a frozen flow-matching decoder provides a complete-shape prior for recovering visible and occluded structures. To connect geometry with articulation, Artic-O fuses visual tokens, geometry latents, and point-wise decoder features in an image-grounded part-reasoning module for active-part segmentation and articulation prediction. We further train the model with a geometry-to-articulation curriculum and a decoupled two-pass strategy to balance reconstruction and part-level supervision. On PartNet-Mobility, Artic-O achieves strong reconstruction quality while being substantially more efficient than LARM, a strong prior method. It reduces Chamfer Distance, improves F-score, and achieves comparable or better articulation accuracy across most joint metrics, while reducing inference time from 9 minutes to about 0.3 seconds per object.
Authors 7
Xuyang Wang, Zhenyu Li, Jian Ding, Habib Slim, Peter Wonka, Hongdong Li, Mohamed Elhoseiny
Specification
- Official page
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
- Arxiv announce type
- replace
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
- arXiv id
- 2606.21938
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
- Categories
- cs.CV
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
- Primary category
- cs.CV
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 51 min agohigh
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Attributed facts
9
Source tiers
T19
Freshest observation
51 min ago
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None
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- Authors
- Xuyang Wang, Zhenyu Li, Jian Ding
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Claim history
Official pageofficial_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/abs/2606.21938 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| Reconstructing articulated objects from sparse images requires recovering complete geometry, movable parts, and motion parameters. Recent methods typically separate geometry reconstruction, part reasoning, and articulation estimation into different stages. This separation can weaken consistency between shape, active parts, and motion, while also incurring substantial inference cost. We introduce Artic-O, an end-to-end, feed-forward framework for articulated object reconstruction via latent geometry learning. Instead of fitting geometry in image or view space, Artic-O maps sparse multi-state observations into a pretrained latent geometry space, where a frozen flow-matching decoder provides a complete-shape prior for recovering visible and occluded structures. To connect geometry with articulation, Artic-O fuses visual tokens, geometry latents, and point-wise decoder features in an image-grounded part-reasoning module for active-part segmentation and articulation prediction. We further train the model with a geometry-to-articulation curriculum and a decoupled two-pass strategy to balance reconstruction and part-level supervision. On PartNet-Mobility, Artic-O achieves strong reconstruction quality while being substantially more efficient than LARM, a strong prior method. It reduces Chamfer Distance, improves F-score, and achieves comparable or better articulation accuracy across most joint metrics, while reducing inference time from 9 minutes to about 0.3 seconds per object. | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Arxiv announce typearxiv_announce_type1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
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| replace | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
arXiv idarxiv_id1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 2606.21938 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Categoriescategories1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.CV | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
PDFpdf_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/pdf/2606.21938 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Primary categoryprimary_category1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.CV | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Publishedpublished_at1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 11 Sept 2026 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →
New paper: Artic-O: End-to-End Articulated Object Reconstruction via Latent Geometry Learning
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.CV | feed | T1· Official | 51 min ago | 1 |
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