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cs.CV2026
DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces
Li Zhang, Mingyu Mei, Ailing Wang +7
Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, com…
cs.RO2026
HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation
Zhanxiang Cao, Liyun Yan, Yang Zhang +7
Humanoid loco-manipulation requires executing precise manipulation tasks while maintaining dynamic stability amid base motion and impacts. Existing approaches typically formulate c…