FACT: Fidelity-Aware Construction of Articulated Twins

arXiv:2609.37067 · cs.RO, cs.AI · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Fidelity — 37× in this paper · explained in 2 episodes
• Calibration — 19× in this paper · explained in 7 episodes
• ACM Transactions on Graphics — 7× in this paper
• Digital Twin — 7× in this paper · explained in 5 episodes
• Alignment — 5× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 5× in this paper
• System Identification — 5× in this paper · explained in 3 episodes
• Agentic Framework — 4× in this paper · explained in 6 episodes
• International Conference on Learning Representations — 4× in this paper
• Point Clouds — 4× in this paper · explained in 2 episodes
• Fidelity-Aware Construction of Articulated Twins — 3× in this paper
• Trace — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Abstraction — 2× in this paper · explained in 1 episode
• Agentic System — 2× in this paper · explained in 2 episodes
• International Conference on Computer Vision — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Simulation-based Inference — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes

Sources

• UnfoldArt: Zero-Shot Recovery of Full Articulated 3D Objects from Text or Image
• RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation
• IterCAD: An Iterative Multimodal Agent for Visually-Grounded CAD Generation and Editing
• Procedural Generation of Articulated Simulation-Ready Assets
• cadrille: Multi-modal CAD Reconstruction with Reinforcement Learning
• Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modeling
• Kimi K3: Open Frontier Intelligence
• EmbodiedGen V2: An Agentic, Simulation-Ready 3D World Engine for Embodied AI
• Articraft: An Agentic System for Scalable Articulated 3D Asset Generation

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