# ArtGen: Conditional Generative Modeling of Articulated Objects in Arbitrary Part-Level States

arXiv: https://arxiv.org/abs/2512.12395 · HTML: https://mlsanity.com/paper/2512.12395/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Dec 2025.

## Built on by (most cited first, 1 of 1)

- [3D Generation for Embodied AI and Robotic Simulation: A Survey](https://mlsanity.com/paper/2604.26509/) (2026)

## Abstract (arXiv)

Generating articulated assets is crucial for robotics, digital twins, and embodied intelligence. Existing generative models often rely on single-view inputs representing closed states, resulting in ambiguous or unrealistic kinematic structures due to the entanglement between geometric shape and joint dynamics. To address these challenges, we introduce ArtGen, a conditional diffusion-based framework capable of generating articulated 3D objects with accurate geometry and coherent kinematics from single-view images or text descriptions at arbitrary part-level states. Specifically, ArtGen employs cross-state Monte Carlo sampling to explicitly enforce global kinematic consistency, reducing structural-motion entanglement. Additionally, we integrate a Chain-of-Thought reasoning module to infer robust structural priors, such as part semantics, joint types, and connectivity, guiding a sparse-expert Diffusion Transformer to specialize in diverse kinematic interactions. Furthermore, a compositional 3D-VAE latent prior enhanced with local-global attention effectively captures fine-grained geometry and global part-level relationships. Extensive experiments on the PartNet-Mobility benchmark demonstrate that ArtGen significantly outperforms state-of-the-art methods.