Author

Z. Bauer

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#artificial intelligence Feb 2026

Articulated 3D Scene Graphs for Open-World Mobile Manipulation

MoMa-SG, a novel framework for building semantic-kinematic 3D scene graphs of articulated scenes containing a myriad of interactable objects, and the Arti4D-Semantic dataset, which provides parent-child relation annotations between container and contained objects together with object axis annotations across 62 in-the-w...

Martin Buchner, Adrian Rofer, Tim Engelbracht et al. · arXiv.org · 12 citations

#artificial intelligence Preprint Sep 2026

ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction

ForceTwin is a system for identifying physics-informed digital twins of articulated objects from instrumented human interaction that achieves 87% goal completion across nine object-embodiment pairs, compared with 60% using VLM-prior and 57% using kinematics-only twins.

Tim Engelbracht, René Zurbrügg, Mayank Mittal et al. · 0 citations

Preprint Aug 2026

Map-Det3D: Metric Feed-Forward 3D Reconstruction Prior for Multi-view 3D Object Detection from Streaming Inputs

Map-Det3D is an online multi-view 3D object detection model that brings detection directly into a 3D space reconstructed from RGB, suggesting that training reconstruction priors for detection is a practical route to stable metric 3D detection from monocular video.

Yung-Hsu Yang, Luigi Piccinelli, S. R. Bulò et al. · 1 citation