{"ID":2829588,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.12395","arxiv_id":"2512.12395","title":"ArtGen: Conditional Generative Modeling of Articulated Objects in Arbitrary Part-Level States","abstract":"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.","short_abstract":"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 addre...","url_abs":"https://arxiv.org/abs/2512.12395","url_pdf":"https://arxiv.org/pdf/2512.12395v1","authors":"[\"Haowen Wang\",\"Xiaoping Yuan\",\"Fugang Zhang\",\"Rui Jian\",\"Yuanwei Zhu\",\"Xiuquan Qiao\",\"Yakun Huang\"]","published":"2025-12-13T17:00:03Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[\"Diffusion Model\",\"Transformer\",\"Variational Autoencoder\"]","has_code":false}