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

TL;DR

ArtGen is a novel diffusion-based framework that generates articulated 3D objects from images or text, ensuring accurate geometry and kinematic consistency, advancing capabilities in robotics and digital twins.

Contribution

It introduces a conditional diffusion model with cross-state sampling, reasoning modules, and a compositional 3D-VAE to improve articulated object generation from limited inputs.

Findings

Outperforms state-of-the-art on PartNet-Mobility

Achieves accurate geometry and kinematic consistency

Handles arbitrary part-level states effectively

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.