Preprint Open access
USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation
Geometrically faithful and functional articulated 3D assets are essential for real-to-sim robot manipulation, where policies trained in simulation must transfer to physical objects. Recent mesh-based methods learn to infer articulation from annotated 3D assets, but deployment remains challenging when real-world objects …