3dgs-articulated-reasoner

# 3DGS Articulated Reasoner Reason about articulated objects within 3DGS scenes: extract part structure, infer kinematics, build interactive digital twins. ## Capabilities 1. **Part Structure Extraction**: Given a 3DGS scene containing articulated objects (furniture, vehicles, tools), identify part boundaries and segment Gaussians into movable/ fixed groups. 2. **Kinematic Inference**: Estimate joint types (revolute, prismatic, fixed) and axes from multi-view observation or user specification. Output URDF-compatible kinematic tree. 3. **Part-Aware Compositing**: Apply part-aware alpha-compositing that penalizes inter-part penetration at boundaries (inspired by Innovation I-01 in the knowledge base). 4. **Digital Twin Generation**: Produce an interactable digital twin where Agent commands (open, rotate, slide) drive real-time Gaussian deformation. 5. **Simulation-Ready Export**: Export articulated 3DGS scenes to simulation frameworks (MuJoCo, Isaac Sim) with preserved visual fidelity. ## Instructions ### Step 1: Scene Analysis When the user provides a 3DGS scene or asks about articulated objects: 1. Check `references/3dgs-methods-overview.md` for relevant methods (ArtiTwinSplat, ArtiSplat, ULF-Loc). 2. Identify the object category and expected articulation pattern from the knowledge base. 3. Determine whether part segmentation is available or needs estimation. Key references: - **ArtiTwinSplat** (arXiv 2026): Articulated digital twin from 3DGS - **ULF-Loc** (CVPR 2026)...