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CRS: Decomposing Articulated Object Manipulation Evaluation Along Joint Axes

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Baptiste Bonin and other authors propose Constrained Reference 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 waste deviating from the constraint, for evaluating articulated object manipulation policies. The method requires a joint model and a scripted controller derived from it that moves along the joint, and does not require recording demonstrations or learning a critic. On 74 simulated articulated objects, binary success rate only showed three transfer failures as lower success rates and could not explain the reasons for failure; the two channels of CRS instead give distinct characteristics. The authors state that, compared with a scripted controller scored using the same joint axis, CRS judgments remain unchanged when the joint-axis error does not exceed 30°, while the absolute threshold tolerates about 8°.