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arXiv · 2605.16582

ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamics

Sylvia Yuan·Dan Wang·Ravi Ramamoorthi·Xinrui Cui
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Abstract

We present ArtMesh, a mesh-native method for reconstructing articulated objects explicitly as connected triangle meshes with per-part rigid motion from multi-view images in start and end states. Existing 3D Gaussian Splatting pipelines for articulated reconstruction inherit the unstructured point-based geometry of their splatting base, which provides no surface topology for reasoning about part boundaries or enforcing motion consistency along the object's connectivity. ArtMesh instead builds on a mesh-based differentiable rendering backbone, enabling part-aware dynamics to act directly on the structured topology. To make the topology compatible with articulation, we introduce part-aware restricted Delaunay remeshing, producing connected submeshes whose triangles do not cross semantic part boundaries. The dynamic mesh field then optimizes articulation using bidirectional Vertex-wise Motion Consistency on transported mesh vertices and Pixel-wise Motion Consistency on rendered RGB-D observations. We introduce Articulate-100, a new benchmark of 100 articulated objects spanning 16 PartNet-Mobility categories. On this benchmark, ArtMesh outperforms prior 3DGS-based pipelines in joint parameter estimation and part-level geometric reconstruction, with the largest gains on objects with many movable parts.

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Sylvia Yuan, Dan Wang, Ravi Ramamoorthi, Xinrui Cui. 2026-05-15. ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamics. https://arxiv.org/abs/2605.16582

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