Articulated objects, composed of multiple rigid parts connected by joints allowing rotational or translational motion, such as doors, cupboards and spectacles are ubiquitous in our daily lives.

Recovering the skeletal shape of an animal from a monocular video is a longstanding challenge.

While there has been tremendous progress in reconstructing rigid scenes (via SfM and SLAM [7, 39, 43], or recent techniques based on neural rendering [28]), reconstructingdynamic scenes with articulated objects remains elusive.

Therefore,techniquestoreconstruct articulated 3D objects from 2D images are crucial and highly useful. In this work, we propose a practical problem setting to estimate 3D pose and shape of animals given only a few (10-30) in-the-wild images of a particular animal species (say,horse). Contrary toexisting worksthatrelyonpre-defined template shapes, we do not assume any form of 2D or 3D ground-truth annotations, nor do we leverage any multi-view or temporal information. Moreover, each input image ensemble can contain animal instances with varying poses, backgrounds, illuminations, and textures. Our key insight is that 3D parts have much simpler shape compared totheoverall animal and that theyarerobustw.r.t.

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Recovering a skeletal shape from a monocular video is a longstanding challenge. Prevailing nonrigid animal reconstruction methods often adopt a control-point driven animation model and optimize bone transforms individually without considering skeletal topology, yielding unsatisfactory shape and articulation. In contrast, humans can easily infer the articulation structure of an unknown character by associating it with a seen articulated object in their memory. Inspired by this fact, we present CASA, a novel category-agnostic articulated animal reconstruction method. Our method consists of two components, a video-to-shape retrieval process and a neural inverse graphics framework. During inference, CASA first finds a matched articulated shape from a 3D character assets bank so that the input video scores highly with the rendered image, according to a pretrained image-language model. It then integrates the retrieved character into an inverse graphics framework and jointly infers the shape deformation, skeleton structure, and skinning weights through optimization.

This paper investigates how the dynamic articulatory model DYNARTmo accounts for articulatory tradeoffs between primary and secondary articulators, with a focus on lips-jaw and tongue-jaw coordination. While DYNARTmo does not implement full task-dynamic second-order biomechanics, it adopts first-order task-space gesture specifications comparable to those used in articulatory phonology and integrates a simplified mechanism for distributing articulatory effort across multiple articulators. We first outline the conceptual relationship between task dynamics and DYNARTmo, emphasizing the distinction between high-level task-space trajectories and their low-level articulatory execution. We then present simulation results for a set of CV syllables that illustrate how jaw displacement varies as a function of both place of articulation (labial, apical, dorsal) and vowel context (/a/, /i/, /u/). The model reproduces empirically attested patterns of articulatory synergy, including jaw-supported apical closures, lower-lip elevation in bilabial stops, tongue-jaw co-movement, and saturation effects in labial constrictions. These results demonstrate that even with computationally simplified assumptions, DYNARTmo can generate realistic spatio-temporal movement patterns that capture key aspects of articulatory tradeoff and synergy across a range of consonant-vowel combinations.

Human speech production encompasses multiple modes such as perceived, overt, whispered, and imagined, each reflecting distinct neural mechanisms. Among these, theta-band synchrony has been closely associated with language processing, attentional control, and inner speech. However, previous studies have largely focused on a single mode, such as overt speech, and have rarely conducted an integrated comparison of theta synchrony across different speech modes. In this study, we analyzed differences in theta-band neural synchrony across speech modes based on connectivity metrics, focusing on region-wise variations. The results revealed that overt and whispered speech exhibited broader and stronger frontotemporal synchrony, reflecting active motor-phonological coupling during overt articulation, whereas perceived speech showed dominant posterior and temporal synchrony patterns, consistent with auditory perception and comprehension processes. In contrast, imagined speech demonstrated a more spatially confined but internally coherent synchronization pattern, primarily involving frontal and supplementary motor regions. These findings indicate that the extent and spatial distribution of theta synchrony differ substantially across modes, with overt articulation engaging widespread cortical interactions, whispered speech showing intermediate engagement, and perception relying predominantly on temporoparietal networks. Therefore, this study aims to elucidate the differences in theta-band neural synchrony across various speech modes, thereby uncovering both the shared and distinct neural dynamics underlying language perception and imagined speech.

This paper presents a novel approach to avoiding jackknifing and mutual collisions in Heavy Articulated Vehicles (HAVs) by leveraging decentralized swarm intelligence. In contrast to typical swarm robotics research, our robots are elongated and exhibit complex kinematics, introducing unique challenges. Despite its relevance to real-world applications such as logistics automation, remote mining, airport baggage transport, and agricultural operations, this problem has not been addressed in the existing literature. To tackle this new class of swarm robotics problems, we propose a purely reaction-based, decentralized swarm intelligence strategy tailored to automate elongated, articulated vehicles. The method presented in this paper prioritizes jackknifing avoidance and establishes a foundation for mutual collision avoidance. We validate our approach through extensive simulation experiments and provide a comprehensive analysis of its performance. For the experiments with a single HAV, we observe that for 99.8% jackknifing was successfully avoided and that 86.7% and 83.4% reach their first and second goals, respectively. With two HAVs interacting, we observe 98.9%, 79.4%, and 65.1%, respectively, while 99.7% of the HAVs do not experience mutual collisions.