mlsanityData to 7 Oct 2026

Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects

arXiv 2404.01440 ↗First posted 1 Apr 2024cs.CV cs.AI cs.GRcited by 67

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Abstract (arXiv)

We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first reconstructs object-level shape at each state, then recovers the underlying articulation model including part segmentation and joint articulations that associate the two states. By explicitly modeling point-level correspondences and exploiting cues from images, 3D reconstructions, and kinematics, our method yields more accurate and stable results compared to prior work. It also handles more than one movable part and does not rely on any object shape or structure priors. Project page: https://github.com/NVlabs/DigitalTwinArt

Key facts. Cited by 67 papers in the map (data through 7 Oct 2026). Builds on 0 of its 42 references that are in the map. First posted on arXiv 1 Apr 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 32; 2026: 29.

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  1. 2024Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Modelcited by 90
  2. 2025ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splattingcited by 67
  3. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 66
  4. 2024Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imaginationcited by 45
  5. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 41
  6. 2024MeshArt: Generating Articulated Meshes with Structure-Guided Transformerscited by 40
  7. 2025PhysX-3D: Physical-Grounded 3D Asset Generationcited by 40
  8. 2025ArticulatedGS: Self-supervised Digital Twin Modeling of Articulated Objects using 3D Gaussian Splattingcited by 35
  9. 2025DreamArt: Generating Interactable Articulated Objects from a Single Imagecited by 25
  10. 2024Articulate your NeRF: Unsupervised articulated object modeling via conditional view synthesiscited by 24
  11. 2025DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Datacited by 21
  12. 2025Particulate: Feed-Forward 3D Object Articulationcited by 20
38 more
  1. 2025iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videoscited by 18
  2. 2025Articulated Object Estimation in the Wildcited by 18
  3. 2025Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generationcited by 17
  4. 2025GaussianArt: Unified Modeling of Geometry and Motion for Articulated Objectscited by 17
  5. 2025GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulationcited by 16
  6. 2025VideoArtGS: Building Digital Twins of Articulated Objects from Monocular Videocited by 15
  7. 2025Dexterous World Modelscited by 15
  8. 2025SplArt: Articulation Estimation and Part-Level Reconstruction with 3D Gaussian Splattingcited by 13
  9. 2025IAAO: Interactive Affordance Learning for Articulated Objects in 3D Environmentscited by 11
  10. 2025ScrewSplat: An End-to-End Method for Articulated Object Recognitioncited by 9
  11. 2025ART: Articulated Reconstruction Transformercited by 9
  12. 2025Predict-Optimize-Distill: A Self-Improving Cycle for 4D Object Understandingcited by 8
  13. 2026PhysForge: Generating Physics-Grounded 3D Assets for Interactive Virtual Worldcited by 8
  14. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  15. 2026FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videoscited by 7
  16. 2025MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videoscited by 6
  17. 2025REACT3D: Recovering Articulations for Interactive Physical 3D Scenescited by 6
  18. 2026Articulation in Motion: Prior-free Part Mobility Analysis for Articulated Objects By Dynamic-Static Disentanglementcited by 6
  19. 2025REArtGS++: Generalizable Articulation Reconstruction with Temporal Geometry Constraint via Planar Gaussian Splattingcited by 5
  20. 2026MonoArt: Progressive Structural Reasoning for Monocular Articulated 3D Reconstructioncited by 5
  21. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
  22. 2026Articulat3D: Reconstructing Articulated Digital Twins From Monocular Videos with Geometric and Motion Constraintscited by 3
  23. 2026FreeArtGS: Articulated Gaussian Splatting Under Free-moving Scenariocited by 3
  24. 2026SIMART: Decomposing Monolithic Meshes into Sim-ready Articulated Assets via MLLMcited by 3
  25. 2025UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulationcited by 2
  26. 2025sim2art: Accurate Articulated Object Modeling from a Single Video using Synthetic Training Data Onlycited by 2
  27. 2026ViPS: Video-informed Pose Spaces for Auto-Rigged Meshescited by 2
  28. 2024NARF24: Estimating Articulated Object Structure for Implicit Renderingcited by 1
  29. 2025SPLATART: Articulated Gaussian Splatting with Estimated Object Structurecited by 1
  30. 2025Part2GS: Part-aware Modeling of Articulated Objects using 3D Gaussian Splattingcited by 1
  31. 2025PAOLI: Pose-free Articulated Object Learning from Sparse-view Imagescited by 1
  32. 2026ArtPro: Self-Supervised Articulated Object Reconstruction with Adaptive Integration of Mobility Proposalscited by 1
  33. 2026PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videoscited by 1
  34. 2026GEAR: GEometry-motion Alternating Refinement for Articulated Object Modeling with Gaussian Splattingcited by 1
  35. 2026EgoFun3D: Modeling Interactive Objects from Egocentric Videos using Function Templatescited by 1
  36. 2026ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamicscited by 1
  37. 2026Articulation in Prime: Primitive-Based Articulated Object Understanding from a Single Casual Videocited by 1
  38. 2026ArtSplat: Feed-Forward Articulated 3D Gaussian Splatting from Sparse Multi-State Uncalibrated Viewscited by 1

50 most cited of 67 All 67 (JSON)