AI RESEARCH
JODA: Composable Joint Dynamics for Articulated Objects
arXiv CS.CV
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ArXi:2605.09954v1 Announce Type: cross Articulated objects used in simulation and embodied AI are typically specified by geometry and kinematic structure, but lack the fine-grained dynamical effects that govern realistic mechanical behavior, such as frictional holding, detents, soft closing, and snap latching. Existing approaches either ignore the detailed structure of dynamics entirely, or use simple models with limited expressiveness.