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Artic-O: End-to-End Articulated Object Reconstruction via Latent Geometry Learning

arxiv.org/abs/2606.21938

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Updated 2 h ago · first seen 11 Sept 2026

paper_01M294H3AWX9E7RQK8YTVHT6J5

Published: 11 Sept 2026; T1 · 2 h ago
arXiv: 2606.21938; T1 · 2 h ago
Category: cs.CV; T1 · 2 h 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: arxiv.org/abs/2606.21938
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: replace
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2606.21938
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2606.21938
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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T19

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9 claims · 9 properties

Official pageofficial_url1

Claim history for Official page
Value	Valid from → to	Status	Source	Confidence	Extractor
https://arxiv.org/abs/2606.21938	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Abstractabstract1

Claim history for Abstract
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.	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Arxiv announce typearxiv_announce_type1

Claim history for Arxiv announce type
Value	Valid from → to	Status	Source	Confidence	Extractor
replace	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

arXiv idarxiv_id1

Claim history for arXiv id
Value	Valid from → to	Status	Source	Confidence	Extractor
2606.21938	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Authorsauthors1

Claim history for Authors
Value	Valid from → to	Status	Source	Confidence	Extractor
Xuyang Wang, Zhenyu Li, Jian Ding, Habib Slim, Peter Wonka, Hongdong Li, Mohamed Elhoseiny	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Categoriescategories1

Claim history for Categories
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.CV	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

PDFpdf_url1

Claim history for PDF
Value	Valid from → to	Status	Source	Confidence	Extractor
https://arxiv.org/pdf/2606.21938	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Primary categoryprimary_category1

Claim history for Primary category
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.CV	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Publishedpublished_at1

Claim history for Published
Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.CV	feed	T1· Official	40 min ago	1

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