Articulated Objects

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16 papers in the last four weeks, up 433% on the four weeks before. 0.2% of all new papers.

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  1. AssemblyWorld: Rethinking 3D Assembly with General-Purpose Agents

    Sep 30, 2026Jiahao Zhang, Yeying Fan, Moitreya Chatterjee +5Articulated ObjectsGeometric Constraints

    The Australian National University · Tsinghua University · Mitsubishi Electric Research Laboratories (MERL) +1

  2. Towards a General Humanoid Loco-Manipulation Model via Egocentric Whole-Body Human Data Pretraining

    Sep 30, 2026Chongyang Xu, Zhao Wu, Jin Chen +9Humanoid Loco-ManipulationEgocentric Dataset

    Alibaba Group · Sichuan University · Shanghai Innovation Institute +2

  3. EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation

    Sep 29, 2026Yiming Jiang, Jin Chen, Chongyang Xu +3Egocentric DatasetHumanoid Loco-Manipulation

    Beihang University · Alibaba Group · Shanghai Innovation Institute +1

  4. ORMA: Optimization-based Monocular 4D Reconstruction of Articulated Animals

    Sep 29, 2026Xuyi Hu, Francesco Palandra, Shangzhe Wu +34D ReconstructionMonocular Video

    University of Cambridge · IMATI-CNR, Milan, Italy · Technical University of Munich, Germany +1

  5. HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

    Sep 28, 2026Jihwan Shin, Adrià López Escoriza, Junzhe He +2Cross-Embodiment RetargetingArticulated Objects

    Robotic Systems Lab, ETH Zürich, 8092 Zürich, Switzerland

  6. ArticulateArena: A Metric for Articulated Kinematics

    Sep 27, 2026Yumeng He, Yongfei She, Huanyu Chen +6Articulated KinematicsObject Articulation

    UCLA · USC · University of Utah +3

  7. FoLD: Force-Informed Learning for Dexterous Articulated Object Manipulation

    Sep 27, 2026Haowei Shen, Tingai Li, Yumeng Liu +6Contact-Rich Dexterous ManipulationDexterous Manipulation

    University of Science and Technology of China · Institute of AI for Industries, Chinese Academy of Sciences · Jiangsu Key Laboratory of AI for Industries +1

  8. Harnessing Coupled Stream Completion For Human-Object Interaction Modeling

    Sep 26, 2026Dawei Guan, Di Yang, Jiangtao WangArticulated ObjectsCompletion

    School of Artificial Intelligence and Data Science, University of Science and Technology of China

  9. Track2Art: Motion-Centric Articulated Object Model Recovery from 2D Point Trackers

    Sep 23, 2026Xiaotong Li, Yixiong Jing, Junsheng Ding +4Articulated KinematicsArticulated Objects

    Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, U.K. · School of Engineering and Design, Technical University of Munich · Munich Center for Machine Learning (MCML), Munich, Germany.

  10. HOIBlender: Blending Lightweight Detection with Vision-Language Priors for Efficient Human-Object Interaction Detection

    Sep 20, 2026Junwen Chen, Keiji YanaiArticulated ObjectsVision-Language Model Grounding

    Department of Informatics, The University of Electro-Communications, Tokyo, Japan

  11. FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observations

    Sep 17, 2026Kevin Qu, Tao Sun, Massimiliano Viola +53D ModelsMotion Model

    Stanford University · ETH Zürich

  12. FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents

    Sep 17, 2026Dennis Rotondi, Abdelrhman Werby, Kai O. Arras3D Scene GraphsRobotic Perception

    University of Stuttgart, Germany · International Max Planck Research School for Intelligent Systems

  13. Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions

    Sep 15, 2026Liu Cao, Xingze Wu, Jingzhi Cui +4Contact-Rich Dexterous ManipulationHumanoid Loco-Manipulation

    1Tsinghua IIIS · 3Dalian University of Technology · 4The Chinese University of Hong Kong +1

  14. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 14, 2026Yang Yang, Tengyu Liu, Puhao Li +6Robotic GraspingDexterous Manipulation

    State Key Lab of CAD&CG, Zhejiang University · State Key Lab of General Artificial Intelligence, BIGAI · Tsinghua University +1

  15. SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation

    Sep 7, 2026Lixing Fang, Ziyan Xiong, Sunli Chen +2TeleoperationArticulated Objects

    University of Massachusetts Amherst · Massachusetts Institute of Technology

  16. PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout

    Sep 7, 2026Haozhuang Chi, Jingsong Liang, Ziying Song +4Pedestrian Trajectory PredictionWorld Models

    Nanyang Technological University, Singapore · Beijing Institute of Technology, Beijing, China

  17. GraspHOI: Full-Body 3D Human-Object Reconstruction with Finger-Level Grasps from a Single In-the-Wild Image

    Aug 28, 2026Semin Kim, Haechan Shin, Jongyoo KimHand-Object Interaction DetectionRobotic Grasping

    Yonsei University

  18. H2R-Bench: Benchmarking Human-to-Robot Manipulation Video Generation in World Models

    Aug 13, 2026Dingyi Rong, Yue Shi, Chaofan Ma +6EmbodimentHuman-Robot Interaction

    1Shanghai Jiao Tong University · 2Shanghai Artificial Intelligence Laboratory

  19. Efficient Human-Contact Representation for Human-Scene Interaction

    Aug 10, 2026Nghia Vu, Tuong Do, Binh X. Nguyen +2Articulated ObjectsDeep Network

    AIOZ, Singapore · Department of Computer Science, University of Liverpool, UK · Department of Computer Science, NTHU, Taiwan

  20. RORA: Realistic Object Reconstruction with Articulation

    Aug 5, 2026Hyesung Lee, Youngseon Lee, Kyutae Lee +2Articulated ObjectsObject Articulation

    Department of Mechanical Engineering, Seoul National University, Seoul, Korea · Department of Robotics and Mechatronics Engineering, DGIST, Daegu, Korea

  21. Surface Keypoint Representation for Multi-Object and Articulated Human-Object Interaction Generation

    Aug 4, 2026Xiaogang Peng, Zeyu Han, Zichong Meng +4Articulated ObjectsWhole-Body Motion

    Northeastern University, USA · Xi’an Jiaotong University, China · Amazon, USA

  22. RF-HOI: Recognize Human-Object Interaction with Radio Frequency Signals

    Jul 31, 2026Lihao Wang, Linlu Gao, Jiacan Yu +5Human Activity RecognitionMulti-Modal Sensing

    Johns Hopkins University, USA

  23. KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

    Jul 27, 2026Yaping Li, Zhaxizhuoma, Qiaojun Yu +3Articulated KinematicsArticulated Objects

    The Chinese University of Hong Kong · Shanghai AI Laboratory · Shanghai Jiao Tong University

  24. AgentHOI: Multi-Agent Reasoning for Human-Object-Interaction Video Generation via Implicit Representation Alignment

    Jul 24, 2026Ziyao Huang, Shunkai Li, Juan Cao +7Articulated ObjectsHuman Motion Generation

    University of Chinese Academy of Sciences · Tencent HunYuan

  25. Latent-Action-Guided Video-Language Feature Learning for Surgical Instrument-Tissue Interaction Recognition

    Jul 22, 2026Jiajun Cheng, Sainan Liu, Subarna Tripathi +2Diffusion-Based Vision-Language-ActionsVision Encoders

    Arizona State University, Tempe, AZ, USA · Intel Corporation, USA · University of California, Merced, CA, USA

  26. Unleashing Multimodal Large Language Models for Training-free HOI Detection in the Wild

    Jul 15, 2026Ting Lei, Jialin Liu, Zhu Xu +2Hand-Object Interaction DetectionMultimodal Agents

    Wangxuan Institute of Computer Technology, Peking University, Beijing, China

  27. UniPhysGen: Unified Physical Grounding for Simulation-Ready 3D Assets

    Jul 15, 2026Xian Li, Rong Wei, Lujie Yang +63D AssetsPhysics Simulation

    Zhejiang University · Manycore Tech Inc. · University of Electronic Science and Technology of China

  28. GNOCHI: Generative Neural mOdel for Close Human-Human Interactions

    Jul 11, 2026Gonzalo Gómez-Nogales, Marc Comino-Trinidad, Andrés Casado-Elvira +1Articulated ObjectsHuman Motion Generation

    Universidad Rey Juan Carlos, Madrid, Spain.

  29. ContactMimic: Humanoid Object Interaction via Contact Control

    Jul 9, 2026Xinyao Li, Xialin He, Runpei Dong +1Articulated ObjectsContact

    University of Illinois Urbana-Champaign

  30. GIRAF: Towards Generalizable Human Interactions with Articulated Objects

    Jul 8, 2026Xiaohan Zhang, Sebastian Starke, Alexander Winkler +3Articulated ObjectsWhole-Body Motion

    Tübingen AI Center, University of Tübingen · Max Planck Institute for Informatics, Saarland Informatics Campus · Meta Reality Labs Research

  31. DeSeG: Decoupling Semantic Intent and Geometric Constraints for Physically Plausible Human-Scene Interaction

    Jul 7, 2026Jiakun Li, Zhe Li, Wenqiang Wu +4Articulated ObjectsGeometric Constraints

    1Southern University of Science and Technology · 1Wenqiang Wu1 · 1Zheng Chang1 +3

  32. SAGE: Synchronized Action-Gaze Recognition and Anticipation for Human Behavior Understanding

    Jul 4, 2026Chenyi Kuang, Nakul AgarwalGaze BehaviorHand-Object Interaction Detection

    Honda Research Institute, USA · Rensselaer Polytechnic Institute

  33. SAMoR: Motion Modelling for Articulated Objects of Any Skeleton and Topology

    Jul 2, 2026Yuhao Zhang, Gerard Pons-Moll, Tolga BirdalSkeletonHumanml3D

    Imperial College London · University of Tübingen, Tübingen AI Center

  34. PWM-ArtGen: Part World Model for Articulated Object Generation

    Jul 2, 2026Wentao Zheng, Ancong WuArtArticulated Objects

    School of Computer Science and Engineering, Sun Yat-sen University, China

  35. ComplexMimic: Human-Scene Interaction Imitation in Complex 3D Environments

    Jul 2, 2026Lu Pan, Hongwei ZhaoMotion ImitationImitation Learning

    College of Computer Science and Technology, Jilin University, China · Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, China

  36. CoGS: Compositional Dynamic Human-Object Scenes Gaussian Splatting from Monocular Video

    Jun 27, 2026Jerrin Bright, John ZelekScene ReconstructionMonocular Video

    Vision and Image Processing Lab, University of Waterloo, Canada

  37. IMU-HOI: A Symbiotic Framework for Coherent Human-Object Interaction and Motion Capture via Contact-Conscious Inertial Fusion

    Jun 26, 2026Lizhou Lin, Songpengcheng Xia, Zengyuan Lai +3Hand-Object Interaction DetectionArticulated Objects

    Shanghai Jiao Tong University

  38. Scene and Human in One World: Reconstruction in a Feedforward Pass

    Jun 26, 2026Boao Shi, Qiao Feng, Yiming Huang +1Human Mesh RecoveryMonocular Video

    University of Pennsylvania, Philadelphia, Pennsylvania, USA

  39. OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

    Jun 24, 2026Runyi Yu, Xiaoyi Lin, Ji Ma +11Humanoid Loco-ManipulationArticulated Objects

    Noitom Robotics · The Hong Kong University of Science and Technology · Wuhan University +1

  40. Social Structure Matters in 3D Human-Human Interaction Generation

    Jun 23, 2026Zhongju Wang, Beier Wang, Yatao Bian +6Human Motion GenerationArticulated Objects

    University of New South Wales · National University of Singapore · NVIDIA +3

  41. Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimation

    Jun 22, 2026Mingyu Mei, Li Zhang, Zibo Dai +4Category-Level Object Pose EstimationConditional Flow Matching

    Zhejiang University · University of Science and Technology of China · Shanghai Jiao Tong University

  42. Policy-as-Data: Learning Generalizable HOI Diffusion Models from Simulated Physics

    Jun 22, 2026Shujia Li, Jianshu Hu, Haiyu Zhang +5Human Motion GenerationArticulated Objects

    Global College, Shanghai Jiao Tong University · Shanghai AI Laboratory · Beihang University

  43. Duet: Dual-Robot Understanding via Efficient Teaching

    Jun 18, 2026Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10Human-Robot CollaborationRobotic Data Acquisition

    University of Southern California · 2Toyota Research Institute · 3Stanford University

  44. Taming I2V models for Image HOI Editing: A Cognitive Benchmark and Agentic Self-Correcting Framework

    Jun 17, 2026Jiayi Gao, Qingchao Chen, Yuxin Peng +1Image EditingArticulated Objects

    Wangxuan Institute of Computer Technology, Peking University, Beijing, China · National Institute of Health Data Science, Peking University, Beijing, China.

  45. URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verification

    Jun 17, 2026Xinze ZhangArticulated KinematicsGeometric Reconstruction

    University of Southern California, Los Angeles, CA 90007, USA

  46. MOCHI: Motion Enhancement of Collaborative Human-object Interactions

    Jun 16, 2026Jiye Lee, Yonghun Choi, Jungdam WonHand-Object Interaction DetectionArticulated Objects

    Department of Computer Science and Engineering, Seoul National University, South Korea

  47. JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid

    Jun 15, 2026Peidong Liu, Yongce Liu, Songyan Guo +34Robotic Data AcquisitionNvidia Isaac Sim

    Joy Future Academy, JD Group

  48. DragMesh-2: Physically Plausible Dexterous Hand-Object Interaction with Articulated Objects

    Jun 13, 2026Tianshan Zhang, Yijia Duan, Yanjun Li +2Contact-Rich Dexterous ManipulationDexterous Manipulation

    School of Computer Science, Peking University

  49. Mana: Dexterous Manipulation of Articulated Tools

    Jun 11, 2026Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1Contact-Rich Dexterous ManipulationDexterous Manipulation

    UC Berkeley1 · Amazon FAR4 · CMU2 +1

  50. Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation

    Jun 7, 2026Kunqi Xu, Zhenhao Huang, Siyuan Luo +2Real-World Manipulation TasksRobotic Manipulation

    Human-centered Robotic Lab, National University of Singapore · School of EECS, Peking University

  51. Revisiting Articulated Parts Perception in Robot Manipulation

    Jun 6, 2026Xiaoqian Wu, Yejie Guo, Xiaoyang Chen +3Robotic ManipulationArticulated Objects

    Shanghai Jiao Tong University

  52. AnchorWorld: Embodied Egocentric World Simulation with View-based Evolution Customization

    Jun 5, 2026Yu Li, Menghan Xia, Gongye Liu +8Video World ModelsMany Worlds

    1Tsinghua University · ∗This work was conducted during the author’s internship at Kling Team, Kuaishou Technology. · 2HUST +3

  53. GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors

    Jun 3, 2026Tianyi Xie, Haotian Zhang, Jinhyung Park +17Articulated ObjectsHumanoid Loco-Manipulation

    NVIDIA · UCLA

  54. Diagnosis of Human Object Interaction Detectors for Real World Educational Applications

    Jun 1, 2026Divya Mereddy, Ashwin Tudur Sadashiva, Marcos Quinones-Grueiro +1Articulated ObjectsDiagnosis

    Vanderbilt University Nashville, TN, USA

  55. GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation

    May 29, 2026Beichen Shao, Mengying Xie, Heng Su +5Robotic ManipulationReal-World Manipulation Tasks

    College of Computer Science, Chongqing University, Chongqing, China · Lumos Robotics, China · Xi’an Jiaotong-Liverpool University, China +2

  56. Dex2HOI: Dexterous Bimanual Two-Object Interaction Generation

    May 28, 2026Chrysa Pratikaki, Pablo Ruiz-Ponce, Jiankang Deng +2Hand-Object Interaction DetectionArticulated Objects

    Imperial College London, UK · University of Alicante, Spain

  57. PhyGenHOI: Physically-Aware 4D Generation of Dynamic Human-Object Interactions

    May 28, 2026Omer Benishu, Gal Fiebelman, Sagie BenaimArticulated ObjectsHuman Motion Generation

    Hebrew University of Jerusalem

  58. Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects

    May 23, 2026Denys Iliash, Jiayi Liu, Egor Fokin +43D ModelsArticulated Objects

    Simon Fraser University · 2Canada-CIFAR AI Chair, Amii

  59. ArtSplat: Feed-Forward Articulated 3D Gaussian Splatting from Sparse Multi-State Uncalibrated Views

    May 23, 2026Inseo Lee, Yoonji Kim, Eugene Sohn +4Feed-Forward 3D Gaussian SplattingFeed-Forward 3D Gaussian

    1Seoul National University · 2Sogang University · 3NAVER AI Lab

  60. PhysX-Omni: Unified Simulation-Ready Physical 3D Generation for Rigid, Deformable, and Articulated Objects

    May 20, 2026Ziang Cao, Yinghao Liu, Haitian Li +5Large-Scale 3D Editing DatasetPhysics Simulation

    S-Lab, Nanyang Technological University · ACE Robotics