让机械关节动起来更真实，支持一键生成复杂物理行为。
JODA: Composable Joint Dynamics for Articulated Objects
- 用三通道场建模关节动力学，涵盖力、摩擦和阻尼。
- 结合视觉与上下文信息，自动推断并优化关节行为。
- 适合做仿真、机器人控制或可编辑物理引擎的开发者。
在模拟和具身智能中使用的关节物体通常仅由几何形状和运动结构定义，缺乏决定真实机械行为的精细动力学效应，如摩擦抓持、卡扣、软关闭和弹跳锁定。现有方法要么忽略动力学细节，要么使用表达能力有限的简化模型。我们提出 JODA，一种在关节自由度上生成联合动力学的框架，以结构化的三通道场表示保守力、干摩擦和阻尼。通过形状约束的分段三次插值（PCHIP）实现，该形式定义了一个紧凑且表达力强的函数空间，兼具可解释性与可微分仿真的兼容性。基于此表示，我们开发了从多模态输入中推断和优化关节动力学的方法：给定视觉观测和关节上下文，视觉-语言模型提议结构化动力学基元，并将其组合成统一的动力学场。该表示支持直接编辑和梯度优化。实验表明，JODA 能够实现多样且可控的关节行为建模，提供统一的推理、编辑与优化接口。代码与示例资产将在发表后公开。
原文摘要 · Abstract (English)
Articulated objects used in simulation and embodied AI are typically specified by geometry and kinematic structure, but lack the fine-grained dynamical effects that govern realistic mechanical behavior, such as frictional holding, detents, soft closing, and snap latching. Existing approaches either ignore the detailed structure of dynamics entirely, or use simple models with limited expressiveness. We introduce JODA, a framework for generating joint-level dynamics as a structured three-channel field over the joint degree of freedom, capturing conservative forces, dry friction, and damping. Instantiated using shape-constrained piecewise cubic interpolation (PCHIP), this formulation defines a compact and expressive function space that is both interpretable and compatible with differentiable simulation. Building on this representation, we develop methods for inferring and refining joint dynamics from multimodal inputs. Given visual observations and joint context, a vision-language model proposes structured dynamical primitives, which are composed into a unified dynamics field. The resulting representation supports both direct manipulation and gradient-based refinement. We demonstrate that JODA enables plausible and controllable modeling of diverse joint behaviors, providing a unified interface for inference, editing, and optimization. Code and example assets with their generated profiles will be released upon publication.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。