---
license: cc-by-4.0
---

URDFormer checkpoint adapted and fine-tuned to SINGAPO data. 
See https://github.com/SevenLJY/urdformer for the code.

```
@article{liu2025singapo,
  title={{SINGAPO}: Single Image Controlled Generation of Articulated Parts in Object},
  author={Liu, Jiayi and Iliash, Denys and Chang, Angel X and Savva, Manolis and Mahdavi-Amiri, Ali},
  journal={ICLR},
  year={2025}
}
@article{urdformer_2024,
  title={URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images},
  author  = {Zoey Chen and Aaron Walsman and Marius Memmel and Kaichun Mo and Alex Fang and Karthikeya Vemuri and Alan Wu and Dieter Fox and Abhishek Gupta},
  journal={RSS},    
  year = {2024},
}