mlsanityData to 14 Oct 2026

S2O: Static to Openable Enhancement for Articulated 3D Objects

arXiv 2409.18896 ↗First posted 27 Sep 2024cs.CVcited by 22

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Abstract (arXiv)

Despite much progress in large 3D datasets there are currently few interactive 3D object datasets, and their scale is limited due to the manual effort required in their construction. We introduce the static to openable (S2O) task which creates interactive articulated 3D objects from static counterparts through openable part detection, motion prediction, and interior geometry completion. We formulate a unified framework to tackle this task, and curate a challenging dataset of openable 3D objects that serves as a test bed for systematic evaluation. Our experiments benchmark methods from prior work, extended and improved methods, and simple yet effective heuristics for the S2O task. We find that turning static 3D objects into interactively openable counterparts is possible but that all methods struggle to generalize to realistic settings of the task, and we highlight promising future work directions. Our work enables efficient creation of interactive 3D objects for robotic manipulation and embodied AI tasks.

Key facts. Cited by 22 papers in the map (data through 14 Oct 2026). Builds on 46 of its 66 references that are in the map. First posted on arXiv 27 Sep 2024.

Builds on

46 of 66 references.

References · 46

  1. 2023Segment Anythingcited by 8,234
  2. 2016Feature Pyramid Networks for Object Detectioncited by 5,036
  3. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  4. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,540
  5. 2019Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regressioncited by 1,368
  6. 2018Learning Implicit Fields for Generative Shape Modelingcited by 1,060
  7. 2023Objaverse-XL: A Universe of 10M+ 3D Objectscited by 774
  8. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  9. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  10. 2016Semantic Scene Completion from a Single Depth Imagecited by 472
  11. 2022PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategiescited by 436
  12. 2021ABO: Dataset and Benchmarks for Real-World 3D Object Understandingcited by 366
34 more
  1. 2020PointGroup: Dual-Set Point Grouping for 3D Instance Segmentationcited by 321
  2. 20203D-FUTURE: 3D Furniture shape with TextUREcited by 311
  3. 2022Mask3D: Mask Transformer for 3D Semantic Instance Segmentationcited by 303
  4. 2022SDFusion: Multimodal 3D Shape Completion, Reconstruction, and Generationcited by 288
  5. 2016Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesiscited by 219
  6. 2023Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigationcited by 167
  7. 2019Category-Level Articulated Object Pose Estimationcited by 159
  8. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 156
  9. 2020Rearrangement: A Challenge for Embodied AIcited by 155
  10. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 139
  11. 2019Shape2Motion: Joint Analysis of Motion Parts and Attributes from 3D Shapescited by 119
  12. 2022PartSLIP: Low-Shot Part Segmentation for 3D Point Clouds via Pretrained Image-Language Modelscited by 118
  13. 2023PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objectscited by 118
  14. 2023Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understandingcited by 113
  15. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 111
  16. 2017ScanComplete: Large-Scale Scene Completion and Semantic Segmentation for 3D Scanscited by 103
  17. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 102
  18. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  19. 2018Deep Part Induction from Articulated Object Pairscited by 66
  20. 2022OPD: Single-view 3D Openable Part Detectioncited by 54
  21. 2023CAGE: Controllable Articulation GEnerationcited by 52
  22. 2021MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronizationcited by 46
  23. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 41
  24. 2023OPDMulti: Openable Part Detection for Multiple Objectscited by 39
  25. 2023PartSLIP++: Enhancing Low-Shot 3D Part Segmentation via Multi-View Instance Segmentation and Maximum Likelihood Estimationcited by 37
  26. 2022Understanding 3D Object Articulation in Internet Videoscited by 36
  27. 2020MeshWalker: Deep Mesh Understanding by Random Walkscited by 32
  28. 2020RPM-Net: Recurrent Prediction of Motion and Parts from Point Cloudcited by 26
  29. 2024PhysPart: Physically Plausible Part Completion for Interactable Objectscited by 25
  30. 2024Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Cloudscited by 15
  31. 2022Unsupervised Kinematic Motion Detection for Part-segmented 3D Shape Collectionscited by 13
  32. 2023Slice3D: Multi-Slice, Occlusion-Revealing, Single View 3D Reconstructioncited by 13
  33. 2022Optimal Correction Cost for Object Detection Evaluationcited by 11
  34. 2023RoSI: Recovering 3D Shape Interiors from Few Articulation Imagescited by 6

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 1; 2025: 8; 2026: 13.

22 papers.

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  1. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 69
  2. 2025DRAWER: Digital Reconstruction and Articulation With Environment Realismcited by 29
  3. 2025DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Datacited by 21
  4. 2025ArtiLatent: Realistic Articulated 3D Object Generation via Structured Latentscited by 11
  5. 2026PAct: Part-Decomposed Single-View Articulated Object Generationcited by 8
  6. 2026ArtLLM: Generating Articulated Assets via 3D LLMcited by 8
  7. 2026ArtiCAD: Articulated CAD Assembly Design via Multi-Agent Code Generationcited by 8
  8. 2025Articulate That Object Part (ATOP): 3D Part Articulation via Text and Motion Personalizationcited by 7
  9. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  10. 2026SceneActBench: Can Agents Act on the 3D Scenes They See?cited by 6
  11. 2025Advances in 4D Representation: Geometry, Motion, and Interactioncited by 4
  12. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
10 more
  1. 2025DYNAMO: Dependency-Aware Deep Learning Framework for Articulated Assembly Motion Predictioncited by 2
  2. 2025UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulationcited by 2
  3. 2026Self-Improving CAD Generation Agents with Finite Element Analysis as Feedbackcited by 2
  4. 2026UniPhysGen: Unified Physical Grounding for Simulation-Ready 3D Assetscited by 2
  5. 2026Articulated Object Reconstruction from Rest-State Observationcited by 1
  6. 2026MechVerse: Evaluating Physical Motion Consistency in Video Generation Modelscited by 0
  7. 2026Functionalization via Structure Completion and Motion Rectificationcited by 0
  8. 2026PWM-ArtGen: Part World Model for Articulated Object Generationcited by 0
  9. 2026FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observationscited by 0
  10. 2026Geometric and Semantic Coupling for Interaction Understanding in 3D Scenescited by 0