Articulation EstimationIntermediate
Query-Conditioned Articulation Estimation from a Single Image
QueryArt is a preprint model that estimates revolute or prismatic articulation parameters from a single calibrated RGB image, a 2D query point, and camera intrinsics, then uses one depth reading at the query to recover metric scale. It outperformed recent baselines on four held-out benchmarks and two out-of-distribution datasets, and achieved 70.2% success across 57 real-robot manipulation trials on unseen furniture. This matters because it decouples where to interact from how the part moves, making single-view explicit kinematics practical for mobile manipulators.