@article{le2025articulate,
  title = {Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Model},
  author = {Long Le and Jason Xie and William Liang and Hung-Ju Wang and Yue Yang and Yecheng Jason Ma and Kyle Vedder and Arjun Krishna and Dinesh Jayaraman and Eric Eaton},
  abstract = {Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting their broader applications. To overcome this challenge, we present Articulate-Anything, a system that automates the articulation of diverse, complex objects from many input modalities, including text, images, and videos. Articulate-Anything leverages vision-language models (VLMs) to generate code that can be compiled into an interactable digital twin for use in standard 3D simulators. Our system exploits existing 3D asset datasets via a mesh retrieval mechanism, along with an actor-critic system that iteratively proposes, evaluates, and refines solutions for articulating the objects, self-correcting errors to achieve a robust out- come. Qualitative evaluations demonstrate Articulate-Anything's capability to articulate complex and even ambiguous object affordances by leveraging rich grounded inputs. In extensive quantitative experiments on the standard PartNet-Mobility dataset, Articulate-Anything substantially outperforms prior work, increasing the success rate from 8.7-11.6% to 75% and setting a new bar for state-of-art performance. We further showcase the utility of our generated assets by using them to train robotic policies for fine-grained manipulation tasks that go beyond basic pick and place.},
  journal = {ICLR},
  year = {2025},
  month = {Apr},
  pub_type = {conference},
  url_pdf = {/publication/le-2025-articulate/le-2025-articulate.pdf},
  url_project = {https://articulate-anything.github.io/},
  url_code = {https://github.com/vlongle/articulate-anything/},
  url = {https://arxiv.org/abs/2410.13882},
  url_arxiv = {https://arxiv.org/abs/2410.13882},
}