[CVPR 2026] Phsyically Ground Commonsense Knowledge for Articulated Object Manipulation with Analytic Concepts

Jiude Wei, Yuxuan Li, Cewu Lu, Jianhua Sun^§

[Paper]

We introduce Analytic Concepts as the bridge between the semantic-level knowledge inferred by MLLMs and the physics level where robots operate, to ground the object knowledge to physics level and guide object manipulation.

[ICCV 2025] Arti-PG: A Toolbox for Procedurally Synthesizing Large-Scale and Diverse Articulated Objects with Rich Annotations

Jianhua Sun^*, Yuxuan Li^*, Jiude Wei^*, Longfei Xu, Nange Wang, Yining Zhang, Cewu Lu^§

[Paper]

We propose the Articulated Object Procedural Generation (Arti‑PG) toolbox, which synthesizes diverse and unlimited articulated objects with rich annotations through program‑oriented structure manipulation and analytic label alignment, addressing the scarcity of high‑quality articulated object data and annotations.

[AAAI 2025] Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objects 🎉 Oral

Jianhua Sun^*, Yuxuan Li^*, Longfei Xu^†, Jiude Wei^†, Liang Chai, Cewu Lu^§

[Paper]

We present AOT and the AOT-driven baseline AOTNet to empower machine intelligence with the kind of human capability to understand and then interact with articulated objects, espeically the novel ones, at the conceptual level for the first time.

[NeurlPS 2024] ConceptFactory: Facilitate 3D Object Knowledge Annotation with Object Conceptualization

Jianhua Sun^*, Yuxuan Li^*, Longfei Xu^†, Nange Wang^†, Jiude Wei^†, Yining Zhang, Cewu Lu^§

[Project Website] [Paper]

We present ConceptFactory, a novel scope to facilitate more efficient annotation of 3D object knowledge through object conceptualization, containing a unified toolbox for object conceptualization and a large collection of conceptualized objects.