PAct Appendix-D to PAct Closed Loop

把我们补出来的论文附录 D `VLM+SAM2` mask 重新送回 PAct 官方推理链，验证 `Appendix-D preprocessing -> articulated 3D tree` 是否真正闭环。当前双样例 `Dishwasher_001 + StorageFurniture_004` 已经成功跑通。

PActAppendix-Dclosed-looparticulationVLMSAM2

2026-04-19 21:25:00 UTCTimestamp

2Assets

activeStatus

PAct Appendix-D to PAct Closed Loop cover image

Assets

Interactive Asset

Dishwasher_001 closed loop

这条闭环最关键：Appendix-D 最终只保留 `door + main_body` 两个 2D kinematic parts，重新送进 PAct 后，导出的 3D 结构是 `base(fixed) -> door(revolute)`。这说明从论文附录 D 补出来的 mask 已经能真正驱动正式 articulation 推理。

下载 object.json 下载 assembled_object.glb 下载 part_0.glb 下载 part_1.glb 下载 closed_loop_summary.json

23D nodes

1 revolutemotion recovered

closedloop state

Dishwasher_001 closed loop Appendix-D processed input — Appendix-D processed input

Dishwasher_001 closed loop Appendix-D final mask — Appendix-D final mask

Dishwasher_001 closed loop PAct consumed the same image+mask pair — PAct consumed the same image+mask pair

Dishwasher closed-loop assembled object

右侧是这次闭环真实导出的整物体 GLB，不是参考资产。下载区同时保留 `object.json` 和各个 `part_i.glb`。

Interactive Asset

StorageFurniture_004 closed loop

更复杂的例子也闭住了。Appendix-D 先分出 5 个 articulated 2D parts，重新送进 PAct 后，3D 树恢复为 `base(fixed) + 2 drawers(prismatic) + 2 doors(revolute)`。这说明闭环不仅适用于单门 appliance，也适用于门抽混合柜体。

下载 object.json 下载 assembled_object.glb 下载 part_0.glb 下载 part_1.glb 下载 part_2.glb 下载 part_3.glb 下载 part_4.glb 下载 closed_loop_summary.json

53D nodes

2R + 2Pmotions recovered

closedloop state

StorageFurniture_004 closed loop Appendix-D processed input — Appendix-D processed input

StorageFurniture_004 closed loop Appendix-D final mask — Appendix-D final mask

StorageFurniture_004 closed loop PAct consumed the same image+mask pair — PAct consumed the same image+mask pair

StorageFurniture closed-loop assembled object

这是闭环推理真实导出的 3D 资产。可以直接转动查看整体，也能从下载区取各个 part。