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About this paper
Yumeng He, Yongfei She, Huanyu Chen, Chun Yuan, Peihao Li, Joseph Masterjohn, Yin Yang, Ying Jiang and 1 more
ArticulateArena introduces a motion-based metric for comparing one-degree-of-freedom joints and kinematic trees, replacing separate thresholded scores for joint parameters with distances between the motions they permit. Its kinetic-energy-based joint score closely tracked material-motion discrepancy in calibration tests (0.990 log–log Pearson correlation, 3.2% median relative error), while a 19,977-object dataset and benchmark showed that motion-based metrics can rank reconstruction methods differently from componentwise evaluation.
Key insights
- A joint is more meaningfully evaluated by the motion it allows than by independently comparing its encoded parameters; this makes equivalent representations score identically.
- Weighting errors by a link’s mass properties connects the score to the resulting material motion, so the same angular error can matter differently for objects of different size and inertia.
- Tree comparisons can charge missing or extra joints according to the motion they permit, rather than applying a fixed penalty for topology changes.
Summary by alphaXiv.
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