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

• URL: http://arxiv.org/abs/2605.16582v1
• Date: Fri, 15 May 2026 19:37:55 GMT
• Title: ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamics
• Abstract summary: ArtMesh is a mesh-native method for reconstructing articulated objects explicitly as connected triangle meshes with per-part rigid motion.<n>We introduce Articulate-100, a new benchmark of 100 articulated objects spanning 16 PartNet-Mobility categories.
• Score: 22.43942785482678
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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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