Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation (original) (raw)

1Shanghai AI Laboratory

2South China University of Technology

3University of Science and Technology of China

4Tongji University

5Fudan University

6Harbin Institute of Technology, Shenzhen

7Institute of Automation, Chinese Academy of Sciences

8School of Artificial Intelligence, University of Chinese Academy of Sciences

9The University of Hong Kong

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We design probalistic programs to generate 22 common articulated objects. We demonstrate the motion sequence of the generated articulated objects. Ours generated articulated objects bear accurate geometry, realistic textures, and reasonable joints.

The whole pipeline can be devided into four parts: articulation tree structure generation, geometry generation, material generation and joint generation.

Abstract

Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the scale and quality of the training data or the fidelity and heavy labour of the simulation. In this paper, we propose Infinite Mobility, a novel method for synthesizing high-fidelity articulated objects through procedural generation. User study and quantitative evaluation demonstrate that our method can produce results that excel current state-of-the-art methods and are comparable to human-annotated datasets in both physics property and mesh quality. Furthermore, we show that our synthetic data can be used as training data for generative models, enabling next-step scaling up.

Paper

Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation

Xinyu Lian, Zichao Yu, Ruiming Liang, Yitong Wang, Li Ray Luo, Kaixu Chen, Qihong Tang, Xudong XU, Zhaoyang Lyu, Bo Dai, Jiangmiao Pang

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Videos of Generated Objects

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Cabinet

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Pan

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Pot

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Display

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Dishwasher

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Microwave

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Fridge

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Oven

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Bar Chair

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Office Chair

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Window

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Lamp

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Tap

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Toilet

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Jar

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Door

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Rack

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Cocktail Table

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Dining Table

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Bottle

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Vase

Robotic Arm Manipulating

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Robotic Arm Operating Cabinet

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Robotic Arm Operating Microwave

Citation


@misc{lian2025infinitemobilityscalablehighfidelity,
      title={Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generation}, 
      author={Xinyu Lian and Zichao Yu and Ruiming Liang and Yitong Wang and Li Ray Luo and Kaixu Chen and Yuanzhen Zhou and Qihong Tang and Xudong Xu and Zhaoyang Lyu and Bo Dai and Jiangmiao Pang},
      year={2025},
      eprint={2503.13424},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2503.13424}, 
}