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arXiv · 2605.24403

Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects

Denys Iliash·Jiayi Liu·Egor Fokin·Qirui Wu·Ali Mahdavi-Amiri·Manolis Savva·Angel X. Chang
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Abstract

We present Artiverse, a diverse and physically grounded dataset of high-quality articulated 3D objects designed for realistic functional modeling and simulation. Artiverse contains 5.4K human-authored objects across a broad range of 88 categories, aggregated from multiple 3D static repositories. Objects are annotated with functional parts, interior structures, realistic kinematic relationships and articulated joints including multi-DoF joints, and physical attributes such as metric scale, material, and mass. We develop a semi-automated annotation pipeline that combines few-shot segmentation, geometric reasoning, and multi-stage human verification to achieve high-quality and efficient annotation, reducing manual annotation time by over 30%. We demonstrate the value of Artiverse on tasks of part mobility analysis, articulated object generation, and physics-based interaction. Artiverse provides a data resource to advance functional understanding for articulated objects.

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Denys Iliash, Jiayi Liu, Egor Fokin, Qirui Wu, Ali Mahdavi-Amiri, Manolis Savva, Angel X. Chang. 2026-05-23. Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects. https://arxiv.org/abs/2605.24403

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