FACT: Fidelity-Aware Construction of Articulated Twins
Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Construction of Articulated Twins), an agentic framework that progressively constructs articulated twins to improve geometry, contact, and dynamic fidelity. The agent drives an evidence--diagnosis--revision loop on a shared editable representation, selecting measurements and model edits using quantitative feedback, while numerical tools execute and validate the updates. It reconstructs editable articulated geometry from images through feature planning, targeted measurements, and diagnostic refinement. On this reference, it repairs collision proxies...
| Authors | Kuixiang Shao, Chuansen Nie, Yinuo Bai et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 September 2026 |
| Last updated at source | 9 October 2026 |
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