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Why It Matters
Successful mobile manipulation requires coordinated base and arm motion while maintaining accurate spatial positioning.
Provenance
Discovered via ArXiv and published by ArXiv.
Key Claims
Original description
Successful mobile manipulation requires coordinated base and arm motion while maintaining accurate spatial positioning. However, demonstration-trained policies can struggle to realise the intended base motion reliably, leading to spatial misalignment and subsequent manipulation failures. We present MAVP (Map-Aware Visuomotor Policies), a framework that improves execution reliability by predicting explicit base-pose targets and tracking them using localisation feedback. MAVP reconstructs a static map from teleoperated demonstrations and expresses demonstrated base trajectories in a shared map f...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.26378v1 · Indexed about 2 hours ago