3 papers
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.LG2026
PRPO: Aligning Process Reward with Outcome Reward in Policy Optimization
Ruiyi Ding, Yongxuan Lv, Xianhui Meng +4
Policy optimization for large language models often suffers from sparse reward signals in multi-step reasoning tasks. Critic-free methods like GRPO assign a single normalized outco…
cs.CV2025
Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds
Xianhui Meng, Yukang Huo, Li Zhang +6
Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored p…