mlsanityData to 14 Oct 2026

PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objects

arXiv 2308.07391 ↗First posted 14 Aug 2023cs.CV cs.AI cs.GRcited by 118

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Abstract (arXiv)

We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the static part and reconstruct shape and appearance while predicting the motion parameters. To tackle this problem, we present PARIS: a self-supervised, end-to-end architecture that learns part-level implicit shape and appearance models and optimizes motion parameters jointly without any 3D supervision, motion, or semantic annotation. Our experiments show that our method generalizes better across object categories, and outperforms baselines and prior work that are given 3D point clouds as input. Our approach improves reconstruction relative to state-of-the-art baselines with a Chamfer-L1 distance reduction of 3.94 (45.2%) for objects and 26.79 (84.5%) for parts, and achieves 5% error rate for motion estimation across 10 object categories. Video summary at: https://youtu.be/tDSrROPCgUc

Key facts. Cited by 118 papers in the map (data through 14 Oct 2026). Builds on 38 of its 56 references that are in the map. First posted on arXiv 14 Aug 2023.

Builds on

38 of 56 references.

References · 38

  1. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  3. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  4. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,689
  5. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  6. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,712
  7. 2020Point Transformercited by 1,470
  8. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,465
  9. 2019Habitat: A Platform for Embodied AI Researchcited by 1,191
  10. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  11. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  12. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
26 more
  1. 2020Non-Rigid Neural Radiance Fields: Reconstruction and Novel View Synthesis of a Dynamic Scene From Monocular Videocited by 471
  2. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 312
  3. 2021Motion Representations for Articulated Animationcited by 255
  4. 2021Neural Articulated Radiance Fieldcited by 196
  5. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 182
  6. 2019Category-Level Articulated Object Pose Estimationcited by 159
  7. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 156
  8. 2019NASA: Neural Articulated Shape Approximationcited by 149
  9. 2022D2NeRF: Self-Supervised Decoupling of Dynamic and Static Objects from a Monocular Videocited by 137
  10. 2019Shape2Motion: Joint Analysis of Motion Parts and Attributes from 3D Shapescited by 119
  11. 2021A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representationcited by 114
  12. 2020Learning Deformable Tetrahedral Meshes for 3D Reconstructioncited by 85
  13. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 82
  14. 2020STaR: Self-supervised Tracking and Reconstruction of Rigid Objects in Motion with Neural Renderingcited by 76
  15. 2022NerfAcc: A General NeRF Acceleration Toolboxcited by 74
  16. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  17. 2023CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objectscited by 64
  18. 2022CLA-NeRF: Category-Level Articulated Neural Radiance Fieldcited by 56
  19. 2022Self-supervised Neural Articulated Shape and Appearance Modelscited by 51
  20. 2021Act the Part: Learning Interaction Strategies for Articulated Object Part Discoverycited by 45
  21. 2022Neural Deformable Voxel Grid for Fast Optimization of Dynamic View Synthesiscited by 43
  22. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 41
  23. 2020RPM-Net: Recurrent Prediction of Motion and Parts from Point Cloudcited by 26
  24. 2023Semi-Weakly Supervised Object Kinematic Motion Predictioncited by 14
  25. 2021Learning to Infer Kinematic Hierarchies for Novel Object Instancescited by 10
  26. 2022Articulated 3D Human-Object Interactions from RGB Videos: An Empirical Analysis of Approaches and Challengescited by 8

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 20; 2025: 43; 2026: 54.

118 papers.

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  1. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 111
  2. 2024Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Modelcited by 96
  3. 2024Real2Code: Reconstruct Articulated Objects via Code Generationcited by 69
  4. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 69
  5. 2025ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splattingcited by 67
  6. 2024Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstructioncited by 54
  7. 2023CAGE: Controllable Articulation GEnerationcited by 52
  8. 2024REACTO: Reconstructing Articulated Objects from a Single Videocited by 45
  9. 2024Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imaginationcited by 45
  10. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 43
  11. 2024MeshArt: Generating Articulated Meshes with Structure-Guided Transformerscited by 41
  12. 2025ArticulatedGS: Self-supervised Digital Twin Modeling of Articulated Objects using 3D Gaussian Splattingcited by 35
38 more
  1. 2024DragAPart: Learning a Part-Level Motion Prior for Articulated Objectscited by 32
  2. 2026Articraft: An Agentic System for Scalable Articulated 3D Asset Generationcited by 30
  3. 2024Recent Trends in 3D Reconstruction of General Non-Rigid Scenescited by 28
  4. 2025PartNeXt: A Next-Generation Dataset for Fine-Grained and Hierarchical 3D Part Understandingcited by 26
  5. 2024Articulate your NeRF: Unsupervised articulated object modeling via conditional view synthesiscited by 24
  6. 2025Particulate: Feed-Forward 3D Object Articulationcited by 23
  7. 2024S2O: Static to Openable Enhancement for Articulated 3D Objectscited by 22
  8. 2025FreeArt3D: Training-Free Articulated Object Generation using 3D Diffusioncited by 22
  9. 2025DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Datacited by 21
  10. 2025URDF-Anything: Constructing Articulated Objects with 3D Multimodal Language Modelcited by 21
  11. 2025Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generationcited by 19
  12. 2025iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videoscited by 19
  13. 2025Articulated Object Estimation in the Wildcited by 19
  14. 2025Dexterous World Modelscited by 18
  15. 2025GaussianArt: Unified Modeling of Geometry and Motion for Articulated Objectscited by 17
  16. 2024LEIA: Latent View-invariant Embeddings for Implicit 3D Articulationcited by 16
  17. 2025VideoArtGS: Building Digital Twins of Articulated Objects from Monocular Videocited by 15
  18. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  19. 2025SplArt: Articulation Estimation and Part-Level Reconstruction with 3D Gaussian Splattingcited by 13
  20. 2025LARM: A Large Articulated-Object Reconstruction Modelcited by 12
  21. 2025ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulationcited by 11
  22. 2025IAAO: Interactive Affordance Learning for Articulated Objects in 3D Environmentscited by 11
  23. 2025ArtiLatent: Realistic Articulated 3D Object Generation via Structured Latentscited by 11
  24. 2026Articulated 3D Scene Graphs for Open-World Mobile Manipulationcited by 11
  25. 2024Articulate3D: Holistic Understanding of 3D Scenes as Universal Scene Descriptioncited by 9
  26. 2025ScrewSplat: An End-to-End Method for Articulated Object Recognitioncited by 9
  27. 2025ART: Articulated Reconstruction Transformercited by 9
  28. 2026PhysForge: Generating Physics-Grounded 3D Assets for Interactive Virtual Worldcited by 9
  29. 2025Predict-Optimize-Distill: A Self-Improving Cycle for 4D Object Understandingcited by 8
  30. 2025Guiding Diffusion-Based Articulated Object Generation by Partial Point Cloud Alignment and Physical Plausibility Constraintscited by 8
  31. 2026PAct: Part-Decomposed Single-View Articulated Object Generationcited by 8
  32. 2026ArtLLM: Generating Articulated Assets via 3D LLMcited by 8
  33. 2026FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videoscited by 8
  34. 2026ArtiCAD: Articulated CAD Assembly Design via Multi-Agent Code Generationcited by 8
  35. 2025Articulate That Object Part (ATOP): 3D Part Articulation via Text and Motion Personalizationcited by 7
  36. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  37. 2025REACT3D: Recovering Articulations for Interactive Physical 3D Scenescited by 7
  38. 2025SPARK: Sim-ready Part-level Articulated Reconstruction with VLM Knowledgecited by 7

50 most cited of 118 All 118 (JSON)