Query-Conditioned Articulation Estimation from a Single Image

Abdelrhman Werby; Fabio Scaparro; Kai O. Arra

cs.ROOct 1, 2026

Query-Conditioned Articulation Estimation from a Single Image

Authors: Abdelrhman Werby, Fabio Scaparro, Kai O. Arra

Organizations: Socially Intelligent Robotics Lab, Institute for Artificial Intelligence, University of Stuttgart, Germany

Abstract

Enabling robots to estimate the kinematic parameters of articulated objects unlocks a wide range of capabilities for interaction and manipulation. The estimation has to happen from the information the robot currently observes, often just a single RGB image of an object it has never seen before. Current single-image approaches couple articulation part segmentation with articulation estimation, making their predictions vulnerable to missed detections and incorrect part associations, and they regress metric 3D geometry that a single view fixes only up to scale. We present QueryArt, a model that estimates articulation parameters from a single RGB image, a 2D query point, and camera intrinsics. QueryArt is trained to estimate the 3D articulation geometry relative to the queried point and in units of its depth, which keeps its target identifiable from the image alone. A single depth measurement at the query point then supplies the scale and recovers the metric parameters. We train QueryArt on a curated mixture of synthetic and real-world articulation datasets. We evaluate QueryArt on several benchmarks and compare it against recent baselines. QueryArt outperforms recent baselines on most articulation metrics, including on out-of-distribution data. To demonstrate the model's capabilities in real-world settings, we evaluate QueryArt on a mobile manipulator across 57 manipulation trials spanning 16 object parts and five viewpoint classes, achieving a 70.2% success rate. We provide code and videos at: https://abwerby.github.io/queryart/

Figures & tables

Fig. 1: QueryArt estimates articulation in a normalized coordinate space from a single RGB image and a 2D query point. Depth at the query point enables lifting the prediction to metric 3D space. The magenta arrow illustrates motion consistent with the predicted articulation. Bottom: real-world deployment on a mobile manipulator.

Fig. 2: QueryArt architecture. A frozen vision transformer (DINOv3 ViT-B/16) encodes the RGB image; early and final-block features are fused into a three-scale pyramid $F_{\mathrm{img}}$ . The query embedding $F_{q}$ is built from the same point-wise visual features sampled at the query, a Fourier encoding of the pixel location, and a hand-crafted calibration vector derived from the intrinsics $K$ . $F_{q}$ is added to two randomly initialized learned tokens: Type and Line , which then pass through two transformer blocks that cross-attend to $F_{\mathrm{img}}$ and self-attend to each other. The prediction heads output the joint classification and the axis parameters for both moving types. Right: the predicted geometry in query-normalized coordinates. The offset $\hat{\mathbf{r}}$ is orthogonal to $\hat{\mathbf{a}}_{\mathrm{rev}}$ , so it points from the unprojected query $\tilde{\mathbf{p}}$ to the nearest point $\tilde{\mathbf{o}}=\tilde{\mathbf{p}}+\hat{\mathbf{r}}$ on the revolute axis. Expressing $\hat{\mathbf{r}}$ in units of the query depth makes the axis recoverable up to a single global scale factor.

	Axis error $\downarrow$		Type recall $\uparrow$		$d_{h}\downarrow$	RMSE $\downarrow$		$S\uparrow$
Method	$R$	$P$	$R$	$P$	(m)	$R$	$P$	(%)
OPDFormer-C [ 4 ]	16.07	22.18	61.11	4.76	0.874	0.315	0.083	6.30
MOPD [ 5 ]	11.94	—	87.37	0.00	0.823	0.281	—	11.53
A3VLM [ 6 ]	36.34	77.26	7.85	0.12	0.768	0.318	0.270	0.00
3DOI [ 16 ]	5.13	3.30	67.01	86.05	0.297	0.091	0.012	48.54
VidBot [ 7 ]	—	—	—	—	—	0.302 †	0.304 †	—

TABLE I: Held-out split results on four datasets. Articulation-macro means grouped by GT joint type.

R/P

: revolute/prismatic; axis error in degrees, recall in %,

d_{h}

and RMSE in meters.

\dagger

: native trajectory protocol.

Fig. 3: Qualitative articulation predictions on objects unseen during training: Arti4D [ 10 ] (left), self-captured scenes (middle), HOI! [ 41 ] (right). Each scene is queried at several points. Top: input image with the query points and the projected motion trajectory. Bottom: the same predictions on the point cloud, with the predicted axis of motion and the 3D trajectory.

	Axis error $\downarrow$		Type recall $\uparrow$		$d_{h}\downarrow$	RMSE $\downarrow$		$S\uparrow$
Method	$R$	$P$	$R$	$P$	(m)	$R$	$P$	(%)
OPDFormer-C [ 4 ]	21.69	—	93.79	0.00	0.471	0.170	—	15.14
MOPD [ 5 ]	15.90	6.11	93.75	2.59	0.545	0.178	0.023	18.70
A3VLM [ 6 ]	51.76	88.13	4.44	0.41	0.570	0.231	0.300	0.00
3DOI [ 16 ]	9.64	6.90	69.50	76.56	0.241	0.090	0.025	58.58
VidBot [ 7 ]	—	—	—	—	—	0.125 †	0.074 †	—

TABLE II: Out-of-distribution results on HOI! [ 41 ] and Arti4D [ 10 ] , both excluded from training. Columns and symbols as in Tab. I .

Fig. 4: Real-robot trials by viewpoint. Each trial is assigned to one of five viewpoint classes and flows to a success or a failure outcome.

	Axis error $\downarrow$		Type recall $\uparrow$		$d_{h}\downarrow$	RMSE $\downarrow$		$S\uparrow$
Variant	$R$	$P$	$R$	$P$	(m)	$R$	$P$	(%)
Articulate3D
Full	6.12	9.38	96.20	89.25	0.201	0.062	0.035	70.03
w/o pyramid	+2.11	-1.49	+2.27	+0.24	+0.0270	+0.0074	-0.0056	-1.51
dense attention	-0.55	-0.07	+2.14	-1.95	+0.0603	+0.0137	-0.0003	-6.48
w/o calibration	+0.41	+0.46	-0.35	-1.71	+0.0177	+0.0045	+0.0017	-2.73

TABLE III: Ablations on Articulate3D and HOI! [ 41 ] . Full: absolute values; other rows: signed change from Full, recall in percentage points. Units as in Tab. I . Green : improvement; red : regression.

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