JODA represents joint dynamics as a composable three-channel field over the joint degree of freedom using shape-constrained PCHIP interpolation, with VLM-based inference from multimodal observations for plausible and controllable modeling.
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JODA: Composable Joint Dynamics for Articulated Objects
JODA represents joint dynamics as a composable three-channel field over the joint degree of freedom using shape-constrained PCHIP interpolation, with VLM-based inference from multimodal observations for plausible and controllable modeling.