ArticulateArena: A Metric for Articulated Kinematics

Abstract

Modern methods reconstruct or generate simulation-ready articulated objects, predicting not only their geometry but also how their parts are connected and allowed to move. Evaluating the geometry is straightforward, but evaluating the predicted articulation is not, because articulation specifies a motion rather than a shape, and there is no agreed distance between two motions. More specifically, existing protocols score joint type, axis direction, origin, and motion limits separately, although these parameters jointly describe a single physical motion, and the same motion can be written as different parameter values. As a result, a joint can score maximally wrong against an equivalent encoding of itself, and several component errors are ill-conditioned or undefined exactly where predictions become accurate. We propose ArticulateArena, a representation-invariant counterpart of Chamfer distance for articulation that compares the motions one-DOF joints induce rather than the parameters that encode them. It represents each joint by the unordered pair of its Lie-algebra endpoint twists, and we prove that the resulting quotient distance is a metric. It unifies fixed, revolute, prismatic, and helical joints, brings continuous joints into the same score through a compactification, and reads as the RMS motion of the moving part in meters when weighted by its mass distribution. A motion-aware tree edit distance lifts the metric to full kinematic trees, pricing structural errors such as spurious or missing joints in the same motion units as joint errors, and for a fixed inner product it remains a metric on trees up to relabeling. Alongside the metric we release ArticulateArena-20K, a new suite of 19,977 articulated objects with verified kinematics, and we re-evaluate published reconstruction methods on it under the new metric. Project page: https://heyumeng.com/ArticulateArena-web/