{"id":"https://openalex.org/W4415274419","doi":"https://doi.org/10.1145/3799902.3811162","title":"Kinematic Kitbashing","display_name":"Kinematic Kitbashing","publication_year":2026,"publication_date":"2026-07-16","ids":{"openalex":"https://openalex.org/W4415274419","doi":"https://doi.org/10.1145/3799902.3811162"},"language":null,"primary_location":{"id":"doi:10.1145/3799902.3811162","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3799902.3811162","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Papers","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3799902.3811162","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075041615","display_name":"Minghao Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minghao Guo","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT), Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-3408-4997","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT), Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000237739","display_name":"Victor Zordan","orcid":"https://orcid.org/0000-0002-7309-7013"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Victor Zordan","raw_affiliation_strings":["Clemson University, San Mateo, USA"],"raw_orcid":"https://orcid.org/0000-0002-7309-7013","affiliations":[{"raw_affiliation_string":"Clemson University, San Mateo, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020591092","display_name":"Sheldon Andrews","orcid":"https://orcid.org/0000-0001-9776-117X"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sheldon Andrews","raw_affiliation_strings":["\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, Canada"],"raw_orcid":"https://orcid.org/0000-0001-9776-117X","affiliations":[{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure (\u00c9TS), Montreal, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT), Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-0212-5643","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT), Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045835385","display_name":"Maneesh Agrawala","orcid":"https://orcid.org/0000-0002-8996-7327"},"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":"Maneesh Agrawala","raw_affiliation_strings":["Stanford University, Stanford, USA and Roblox, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0002-8996-7327","affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, USA and Roblox, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046199795","display_name":"Hsueh\u2010Ti Derek Liu","orcid":"https://orcid.org/0009-0001-1753-4485"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hsueh-Ti Derek Liu","raw_affiliation_strings":["Roblox, Vancouver, Canada"],"raw_orcid":"https://orcid.org/0009-0001-1753-4485","affiliations":[{"raw_affiliation_string":"Roblox, Vancouver, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00651968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9083999991416931,"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":0.9083999991416931,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9016000032424927,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8192999958992004},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43619999289512634},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41940000653266907},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.367000013589859},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.36579999327659607},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.36579999327659607},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.36149999499320984},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.35019999742507935}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8192999958992004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578499972820282},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43619999289512634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43149998784065247},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41940000653266907},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.367000013589859},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.36149999499320984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.350600004196167},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.35019999742507935},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3465999960899353},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.30979999899864197},{"id":"https://openalex.org/C2779337067","wikidata":"https://www.wikidata.org/wiki/Q4800961","display_name":"Articulation (sociology)","level":3,"score":0.3028999865055084},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2825999855995178},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25679999589920044},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1145/3799902.3811162","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3799902.3811162","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Papers","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2510.13048","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.13048","pdf_url":"https://arxiv.org/pdf/2510.13048","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:arXiv.org:2510.13048","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.13048","pdf_url":"https://arxiv.org/pdf/2510.13048","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.13048","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.13048","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1145/3799902.3811162","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3799902.3811162","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Papers","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,89,155],"introduce":[1],"Kinematic":[2],"Kitbashing,":[3],"an":[4,18,65,143],"optimization":[5,150],"framework":[6],"that":[7,37,81,118,121],"synthesizes":[8],"articulated":[9,29,47],"3D":[10],"objects":[11],"by":[12,101],"assembling":[13],"reusable":[14],"parts":[15],"conditioned":[16],"on":[17],"abstract":[19],"kinematic":[20,160,167],"graph.":[21],"Given":[22],"the":[23,57,103,107,123,157],"graph":[24,50,184],"and":[25,40,98,180],"a":[26,45,77,114,140],"library":[27],"of":[28,151,159],"parts,":[30,174],"our":[31,62],"method":[32,63],"optimizes":[33],"per-part":[34],"similarity":[35],"transformations":[36],"place,":[38],"orient,":[39],"scale":[41],"each":[42,71],"component":[43,73],"into":[44],"coherent":[46],"object;":[48],"optional":[49],"edits":[51],"further":[52],"enable":[53],"novel":[54],"assemblies":[55,176],"beyond":[56],"prescribed":[58],"connectivity.":[59],"Central":[60],"to":[61,86],"is":[64,74],"exemplar-based":[66],"analogy":[67],"for":[68],"part":[69],"placement:":[70],"reused":[72],"paired":[75],"with":[76,177],"single":[78],"source":[79],"asset":[80],"exemplifies":[82],"how":[83],"it":[84],"attaches":[85],"its":[87],"parent.":[88],"capture":[90],"this":[91,136],"attachment":[92,116,126,137],"context":[93],"using":[94],"vector":[95],"distance":[96],"fields":[97],"measure":[99],"consistency":[100],"integrating":[102],"matching":[104],"error":[105],"over":[106],"joint\u2019s":[108],"full":[109],"motion":[110],"range.":[111],"This":[112],"yields":[113],"kinematics-aware":[115],"energy":[117,138],"favors":[119],"placements":[120],"preserve":[122],"exemplar\u2019s":[124],"local":[125],"neighborhood":[127],"throughout":[128],"articulation.":[129],"To":[130],"incorporate":[131],"task-level":[132],"functionality,":[133,179],"we":[134],"use":[135],"as":[139],"prior":[141],"in":[142],"annealed":[144],"Langevin":[145],"sampling":[146],"framework,":[147],"enabling":[148],"gradient-free":[149],"black-box":[152],"functionality":[153],"objectives.":[154],"demonstrate":[156],"versatility":[158],"kitbashing":[161],"across":[162],"diverse":[163],"applications,":[164],"including":[165],"instantiating":[166],"graphs":[168],"from":[169],"user-selected":[170],"or":[171],"automatically":[172],"retrieved":[173],"synthesizing":[175],"user-defined":[178],"re-targeting":[181],"articulations":[182],"via":[183],"edits.":[185]},"counts_by_year":[],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-17T00:00:00"}
