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The vertebrate genome is spatially organized into topologically associating domains (TADs), primarily via cohesin-mediated loop extrusion which typically halts at convergent CTCF binding sites to establish domain boundaries. However, despite the essential roles of CTCF and cohesin in establishing TADs, a long-standing paradox persists: CTCF and cohesin binding sites dramatically outnumber observed TAD boundaries, suggesting the existence of undiscovered architectural factors. To identify such missing factors, we conducted high-resolution screens using C.Origami, a multi-modal AI model for predicting chromatin interactions. Remarkably, we identified ZNF654 and JMJD6 as novel factors uniquely defining TAD boundaries. Experimental validation confirmed that ZNF654, an uncharacterized vertebrate-specific zinc-finger protein, interacts with CTCF to form an architectural protein complex that demarcates chromatin domains. Genetic knockout of weakens TAD boundary strength without influencing other CTCF or cohesin binding sites. JMJD6, a deeply conserved jmjC-family dioxygenase, marks the anchors of the strongest chromatin stripes at both TAD boundaries and enhancer-promoter sites, while deleting weakens or diminishes such interaction signature. These results revealed the long-sought factors that uniquely mark TAD boundary and chromatin interaction anchors which, together with CTCF and cohesin, demarcate chromatin domains during 3D genome organization. Last, the evolutionary trajectory of ZNF654 and JMJD6 offers key insight into the evolutionary origins of 3D genome organization across metazoan species.