Article

CRS: A Joint-Constraint-Referenced Evaluation Method for Articulated Object Manipulation

The authors propose Constraint-Referenced Strategy (CRS), which projects the end-effector twist commanded by a policy onto the object's joint axis, separating progress along the joint direction from off-constraint waste. On 74 simulated articulated objects, binary success rate only shows a lower transfer failure rate without attribution, whereas the two CRS channels give each a distinct signature.

Part of the event: CRS: Decomposing Articulated Object Manipulation Evaluation Along Joint Axes

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