FACT: Fidelity-Aware Construction of Articulated Twins

Abstract:Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Construction of Articulated Twins), an agentic framework that progressively constructs articulated twins to improve geometry, contact, and dynamic fidelity. The agent drives an evidence--diagnosis--revision loop on a shared editable representation, selecting measurements and model edits using quantitative feedback, while numerical tools execute and validate the updates. It reconstructs editable articulated geometry from images through feature planning, targeted measurements, and diagnostic refinement. On this reference, it repairs collision proxies through task-aware local repartitioning before fidelity-constrained compression. Finally, it constructs response models from passive-response videos, using simulation residuals to guide model revision and constrained physical parameter fitting. Experiments show that FACT improves geometric reconstruction over baselines, enables more reliable interaction with simpler collision proxies, and better reproduces held-out physical responses than direct parameter inference.

Robotics (cs.RO); Artificial Intelligence (cs.AI)

arXiv:2609.37067 [cs.RO]

(or arXiv:2609.37067v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.37067 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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