{"ID":2898742,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-06T23:32:08.00357817Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.02600","arxiv_id":"2507.02600","title":"ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects","abstract":"Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D Gaussian Splatting (3DGS) by integrating visual-physical modeling for articulated object understanding and interaction. ArtGS begins with multi-view RGB-D reconstruction, followed by reasoning with a vision-language model (VLM) to extract semantic and structural information, particularly the articulated bones. Through dynamic, differentiable 3DGS-based rendering, ArtGS optimizes the parameters of the articulated bones, ensuring physically consistent motion constraints and enhancing the manipulation policy. By leveraging dynamic Gaussian splatting, cross-embodiment adaptability, and closed-loop optimization, ArtGS establishes a new framework for efficient, scalable, and generalizable articulated object modeling and manipulation. Experiments conducted in both simulation and real-world environments demonstrate that ArtGS significantly outperforms previous methods in joint estimation accuracy and manipulation success rates across a variety of articulated objects. Additional images and videos are available on the project website: https://sites.google.com/view/artgs/home","short_abstract":"Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D Gaussian Splatting (3DGS) by integrating visual-physical modeling for articulated...","url_abs":"https://arxiv.org/abs/2507.02600v1","url_pdf":"https://arxiv.org/pdf/2507.02600v1","authors":"Qiaojun Yu, Xibin Yuan, Yu jiang, Junting Chen, Dongzhe Zheng, Ce Hao, Yang You, Yixing Chen, Yao Mu, Liu Liu, Cewu Lu","published":"2025-07-03T13:22:18Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"Language Model\"]","project_urls":"[\"https://sites.google.com/view/artgs/home\"]","has_code":false,"code_links":[{"ID":612428,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2898742,"paper_url":"https://arxiv.org/abs/2507.02600","paper_title":"ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects","repo_url":"https://github.com/google/safevalues","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}