DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Data

Abstract

We present **DIPO**, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an articulated state. Compared to the single-image approach, our dual-image input imposes only a modest overhead for data collection, but at the same time provides important motion information, which is a reliable guide for predicting kinematic relationships between parts. Specifically, we propose a dual-image diffusion model that captures relationships between the image pair to generate part layouts and joint parameters. In addition, we introduce a Chain-of-Thought (CoT) based **graph reasoner** that explicitly infers part connectivity relationships. To further improve robustness and generalization on complex articulated objects, we develop a fully automated dataset expansion pipeline, name **LEGO-Art**, that enriches the diversity and complexity of PartNet-Mobility dataset. We propose **PM-X**, a large-scale dataset of complex articulated 3D objects, accompanied by rendered images, URDF annotations, and textual descriptions. Extensive experiments demonstrate that DIPO significantly outperforms existing baselines in both the resting state and the articulated state, while the proposed PM-X dataset further enhances generalization to diverse and structurally complex articulated objects. Our code and dataset are available at https://github.com/RQ-Wu/DIPO.