The content discusses a novel approach in mobile manipulation, focusing on graspability-aware policy learning. The proposed method utilizes an online grasping pose fusion module to improve the observation of target objects for effective grasping. Extensive experiments conducted on simulators and real-world environments demonstrate the robustness and effectiveness of the methodology. The study highlights the importance of balancing observation and manipulation in mobile robotic tasks.
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arxiv.org
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by Jiazhao Zhan... at arxiv.org 03-05-2024
https://arxiv.org/pdf/2309.15459.pdfDeeper Inquiries