Preprint
Oct 2026
USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation
Geometrically faithful and functional articulated 3D assets are essential for real-to-sim robot manipulation, where policies trained in simulation must transfer to physical objects. Recent mesh-based methods learn to infer articulation from annotated 3D assets, but deployment remains challenging when real-world objects...
Chuan-Rui Zhang, Zai-Jia Yang, Duo-Min Wang et al.
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