Cover Image

Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kim, Sunghwan, Chung, Woojeh, Dai, Zhirui, Bhatt, Dwait, Shukla, Arth, Su, Hao, Tian, Yulun, Atanasov, Nikolay
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Cross-Embodiment Robot Manipulation Skill Transfer using Latent Space Alignment
by: Wang, Tianyu, et al.
Published: (2024)

Rainbow-DemoRL: Combining Improvements in Demonstration-Augmented Reinforcement Learning
by: Bhatt, Dwait, et al.
Published: (2026)

MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction
by: Tian, Yulun, et al.
Published: (2025)

PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
by: Li, Runfa Blark, et al.
Published: (2026)

Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors and Neural Residuals
by: Dai, Zhirui, et al.
Published: (2025)

OREN: Octree Residual Network for Real-Time Euclidean Signed Distance Mapping
by: Dai, Zhirui, et al.
Published: (2025)

ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
by: Shukla, Arth, et al.
Published: (2024)

SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation
by: Tu, Ruisen, et al.
Published: (2026)

Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
by: Asgharivaskasi, Arash, et al.
Published: (2024)

Merging and Disentangling Views in Visual Reinforcement Learning for Robotic Manipulation
by: Almuzairee, Abdulaziz, et al.
Published: (2025)

Riemannian Optimization for Active Mapping with Robot Teams
by: Asgharivaskasi, Arash, et al.
Published: (2024)

LatentAM: Real-Time, Large-Scale Latent Gaussian Attention Mapping via Online Dictionary Learning
by: Lee, Junwoon, et al.
Published: (2026)

MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
by: Liu, Saida, et al.
Published: (2025)

Reverse Forward Curriculum Learning for Extreme Sample and Demonstration Efficiency in Reinforcement Learning
by: Tao, Stone, et al.
Published: (2024)

LATMOS: Latent Automaton Task Model from Observation Sequences
by: Zhan, Weixiao, et al.
Published: (2025)

Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
by: Long, Kehan, et al.
Published: (2024)

Optimal Scene Graph Planning with Large Language Model Guidance
by: Dai, Zhirui, et al.
Published: (2023)

Adapting Neural Robot Dynamics on the Fly for Predictive Control
by: Altawaitan, Abdullah, et al.
Published: (2026)

Safe Bubble Cover for Motion Planning on Distance Fields
by: Lee, Ki Myung Brian, et al.
Published: (2024)

LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning
by: Rabiei, Behrad, et al.
Published: (2025)

Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
by: Dai, Zhirui, et al.
Published: (2026)

Distributionally Robust Policy and Lyapunov-Certificate Learning
by: Long, Kehan, et al.
Published: (2024)

Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
by: Long, Kehan, et al.
Published: (2025)

TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning
by: Feng, Qiaojun, et al.
Published: (2022)

Multi-Robot Object SLAM Using Distributed Variational Inference
by: Cao, Hanwen, et al.
Published: (2024)

Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
by: Altawaitan, Abdullah, et al.
Published: (2023)

Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
by: Raicevic, Nikola, et al.
Published: (2026)

Learning Generalizable Feature Fields for Mobile Manipulation
by: Qiu, Ri-Zhao, et al.
Published: (2024)

Safe Planning in Unknown Environments Using Conformalized Semantic Maps
by: Sundarsingh, David Smith, et al.
Published: (2025)

Generalizable Motion Planning via Operator Learning
by: Matada, Sharath, et al.
Published: (2024)

Active Semantic Mapping with Mobile Manipulator in Horticultural Environments
by: Cuaran, Jose, et al.
Published: (2024)

DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation
by: Su, Yue, et al.
Published: (2025)

Neural Configuration-Space Barriers for Manipulation Planning and Control
by: Long, Kehan, et al.
Published: (2025)

Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulation
by: Huang, Haoran, et al.
Published: (2026)

LSTP-Nav: Lightweight Spatiotemporal Policy for Map-free Multi-agent Navigation with LiDAR
by: Diao, Xingrong, et al.
Published: (2024)

RMMI: Reactive Mobile Manipulation using an Implicit Neural Map
by: Marticorena, Nicolas, et al.
Published: (2024)

EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
by: Li, Zhichao, et al.
Published: (2023)

Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
by: Long, Kehan, et al.
Published: (2023)

Distributionally Robust Lyapunov Function Search Under Uncertainty
by: Long, Kehan, et al.
Published: (2022)

Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control
by: Duong, Thai, et al.
Published: (2024)