ArtGS: Building Interactable Replicas of Complex Articulated Objects
via Gaussian Splatting

Anonymous Authors

Rendering Results of 2-part Synthetic Objects

USB_100109

blade_103706

foldchair_102255

fridge_10905

laptop_10211

oven_101917

scissor_11100

stapler_103111

storage_45135

washer_103776

Rendering Results of Multi-part Synthetic Objects

fridge_10489

oven_101908

storage_45503

storage_47254

storage_47648

table_25493

table_31249

Rendering Results of Real-world Objects

real_fridge

real_storage

cabinet_1r2p

washing-machine

cabinet_3r

microwave

cabinet_1r

Additional Comparisons on PARIS Data

ArtGS

PARIS

real_fridge

ArtGS

PARIS

real_storage

ArtGS

PARIS

foldchair_102255

ArtGS

PARIS

scissor_11100

ArtGS

PARIS

stapler_103111

Simulation in IsaacSim

Interactable Meshes of Complex Synthetic Objects

^*Drag mouse to rotate & scroll wheel to zoom in/out

Table-31249

Storage-47648

Storage-45503

Oven-101918

Table-25493

Interactable Meshes of Complex Real-world Objects

^*Drag mouse to rotate & scroll wheel to zoom in/out

Images

Interactable Replicas

Whole scene

cabinet-1r

cabinet-1r2p

microwave

cabinet-3r

washing-machine

Additional Comparisons on Data from AONRF

ArtGS

AONRF

ArtGS

AONRF

laptop 11586