Revisiting Articulated Parts Perception in Robot Manipulation
We are surrounded by various objects with movable, articulated parts, e.g., box, handle, door. An accurate and generalizable perception of articulated parts is essential to enhance robotic manipulation capabilities. Building on this need, recent efforts in articulated parts perception have followed two main directions: One line of work uses pose-based representation, which requires high manual cost; in parallel, affordance-based methods extract future object motion from point tracking without additional manual efforts, but suffer from low-quality data. In this paper, we propose a new representation of articulated parts, Geometric Primary Structure (GPS), an abstraction of the part geometr...
| Authors | Xiaoqian Wu, Yejie Guo, Xiaoyang Chen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 June 2026 |
| Last updated at source | 6 June 2026 |
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