{"id":"https://openalex.org/W4416749908","doi":"https://doi.org/10.1109/iros60139.2025.11246522","title":"ArtGS: 3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects","display_name":"ArtGS: 3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749908","doi":"https://doi.org/10.1109/iros60139.2025.11246522"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110628430","display_name":"Qiaojun Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiaojun Yu","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043605852","display_name":"Xibin Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xibin Yuan","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102855686","display_name":"Yu Jiang","orcid":"https://orcid.org/0000-0002-2443-911X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Jiang","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086130510","display_name":"Junting Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Junting Chen","raw_affiliation_strings":["National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102019192","display_name":"Dongzhe Zheng","orcid":"https://orcid.org/0009-0007-4105-0628"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dongzhe Zheng","raw_affiliation_strings":["Princeton University,USA"],"affiliations":[{"raw_affiliation_string":"Princeton University,USA","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015975417","display_name":"Ce Hao","orcid":"https://orcid.org/0000-0002-4379-0474"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ce Hao","raw_affiliation_strings":["National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100658700","display_name":"You Yang","orcid":"https://orcid.org/0000-0002-5695-1046"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang You","raw_affiliation_strings":["Stanford University,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066123167","display_name":"Yixing Chen","orcid":"https://orcid.org/0000-0002-2077-0614"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixing Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008178136","display_name":"Yi Mu","orcid":"https://orcid.org/0000-0002-1637-845X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Mu","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114429772","display_name":"Liu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Liu","raw_affiliation_strings":["Hefei University of Technology,China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101470275","display_name":"Cewu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5110628430"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.3234,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90386463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"13170","last_page":"13177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8467000126838684,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8467000126838684,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.03970000147819519,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.014800000004470348,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.574400007724762},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5683000087738037},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.5450999736785889},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5242000222206116},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4862000048160553},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4580000042915344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43790000677108765},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4251999855041504},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.4000999927520752}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7785000205039978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7339000105857849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.603600025177002},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.574400007724762},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5683000087738037},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.5450999736785889},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5242000222206116},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4862000048160553},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4580000042915344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4251999855041504},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.4000999927520752},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.36239999532699585},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3605000078678131},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.34450000524520874},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3109999895095825},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2976999878883362},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.274399995803833},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2039475797","https://openalex.org/W3035131925","https://openalex.org/W3035624836","https://openalex.org/W3120441392","https://openalex.org/W3138392552","https://openalex.org/W3176625410","https://openalex.org/W3199614037","https://openalex.org/W3207081724","https://openalex.org/W4200150166","https://openalex.org/W4206386832","https://openalex.org/W4214625585","https://openalex.org/W4312373374","https://openalex.org/W4313160783","https://openalex.org/W4385318467","https://openalex.org/W4386065846","https://openalex.org/W4386076375","https://openalex.org/W4400904825","https://openalex.org/W4401023928","https://openalex.org/W4401416532","https://openalex.org/W4402713111","https://openalex.org/W4402716263","https://openalex.org/W4402727655","https://openalex.org/W4402952516","https://openalex.org/W4405786800","https://openalex.org/W4408356214","https://openalex.org/W4413144615","https://openalex.org/W4413917236","https://openalex.org/W4413918741","https://openalex.org/W4413947056"],"related_works":[],"abstract_inverted_index":{"Articulated":[0],"object":[1,44,116],"manipulation":[2,93,140],"remains":[3],"a":[4,29,58,107,144],"critical":[5],"challenge":[6],"in":[7,122,135],"robotics":[8],"due":[9],"to":[10,62],"the":[11,16,69,79,82,92,156],"complex":[12],"kinematic":[13],"constraints":[14,89],"and":[15,46,65,90,102,113,118,125,139,151],"limited":[17],"physical":[18],"reasoning":[19,56],"of":[20,81,146],"existing":[21],"methods.":[22],"In":[23],"this":[24],"work,":[25],"we":[26],"introduce":[27],"ArtGS,":[28],"novel":[30],"framework":[31,109],"that":[32,129],"extends":[33],"3D":[34],"Gaussian":[35,98],"Splatting":[36],"(3DGS)":[37],"by":[38,55],"integrating":[39],"visual-physical":[40],"modeling":[41,117],"for":[42,110],"articulated":[43,70,83,115,147],"understanding":[45],"interaction.":[47],"ArtGS":[48,77,105,130],"begins":[49],"with":[50,57],"multi-view":[51],"RGB-D":[52],"reconstruction,":[53],"followed":[54],"vision-language":[59],"model":[60],"(VLM)":[61],"extract":[63],"semantic":[64],"structural":[66],"information,":[67],"particularly":[68],"bones.":[71],"Through":[72],"dynamic,":[73],"differentiable":[74],"3DGS-based":[75],"rendering,":[76],"optimizes":[78],"parameters":[80],"bones,":[84],"ensuring":[85],"physically":[86],"consistent":[87],"motion":[88],"enhancing":[91],"policy.":[94],"By":[95],"leveraging":[96],"dynamic":[97],"splatting,":[99],"cross-embodiment":[100],"adaptability,":[101],"closed-loop":[103],"optimization,":[104],"establishes":[106],"new":[108],"efficient,":[111],"scalable,":[112],"generalizable":[114],"manipulation.":[119],"Experiments":[120],"conducted":[121],"both":[123],"simulation":[124],"real-world":[126],"environments":[127],"demonstrate":[128],"significantly":[131],"outperforms":[132],"previous":[133],"methods":[134],"joint":[136],"estimation":[137],"accuracy":[138],"success":[141],"rates":[142],"across":[143],"variety":[145],"objects.":[148],"Additional":[149],"images":[150],"videos":[152],"are":[153],"available":[154],"on":[155],"project":[157],"website:":[158],"sites.google.com/view/artgs.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}