CAGE: Controllable Articulation GEneration

Figure 1 . We present CAGE: a user-controllable generative model for 3D articulated objects. Left: given an object category label and a directed graph describing the interconnections among constituent parts, our model generates an abstraction of the articulated object specifying both geometry and motion parameters for each part. Right: the generated shape abstraction combined with appropriately constrained part retrieval allows for generating high-quality articulated objects under various user-specified constraints. Users can specify a desired object category, part shape, articulation type, or articulation axis and obtain generated objects that respect the provided constraints.