Artiverse：一个多样且物理基础扎实的铰接物体数据集
Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects
AI总结：
提出Artiverse数据集，包含5.4K个高质量铰接3D物体，通过半自动标注管道结合少样本分割、几何推理和多阶段人工验证，实现高效标注，并展示其在部件运动分析、铰接物体生成和基于物理的交互中的价值。
摘要：
我们提出了Artiverse，一个多样且物理基础扎实的高质量铰接3D物体数据集，旨在用于真实的功能建模和仿真。Artiverse包含来自多个3D静态仓库的5.4K个人工制作的物体，涵盖88个广泛类别。物体被标注有功能部件、内部结构、真实的运动学关系和铰接关节（包括多自由度关节），以及物理属性如公制尺度、材料和质量。我们开发了一个半自动标注管道，结合少样本分割、几何推理和多阶段人工验证，以实现高质量和高效的标注，将人工标注时间减少了30%以上。我们展示了Artiverse在部件运动分析、铰接物体生成和基于物理的交互任务中的价值。Artiverse为推进铰接物体的功能理解提供了数据资源。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
