Articulated Object Reconstruction from Rest-State Observation

Abstract

Building interactive digital twins requires recovering both 3D geometry and the kinematic structures that govern how objects articulate. Yet existing methods for articulated object reconstruction require explicitly observable motion from multiple articulation states. We introduce a rest-state formulation that reconstructs articulated objects from a single closed configuration, an inherently ill-posed setting where geometry, semantics, and motion priors compensate for the absence of motion cues. Our framework adopts an explicit mesh as an intermediate representation for cross-model verification and fusion, reconciling noisy outputs from vision-language and segmentation models into spatially consistent part structures. To estimate joint parameters without observed motion, we use a video diffusion model to synthesize articulation hypotheses and validate them through geometric consistency. Our approach achieves accurate part decomposition and physically plausible articulation, performing competitively with motion-observing reconstruction-based, generation-based, and modular pretrained-model baselines.