point clouds

FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observationsarxiv.org

FAMOS is a feed-forward model that predicts 3D articulation, including movable-part segmentation and joint parameters, from sparse, unordered point clouds. It leverages multiple observations through a Multi-state Articulation Transformer and a novel observed articulation span objective, outperforming existing baselines.