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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/wsxwps3kwz66dydjqbyd9b682
- Original: https://arxiv.org/abs/2610.37550

## Summary

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.