Cover Image

ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Jiang, Jinhao, Fang, Shengyu, Zuo, Sibo, Tang, Yujie, Li, Yirui
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography
by: Li, Keyu, et al.
Published: (2023)

Closed-Loop Visuomotor Control with Generative Expectation for Robotic Manipulation
by: Bu, Qingwen, et al.
Published: (2024)

Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V
by: Zhi, Peiyuan, et al.
Published: (2024)

MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
by: Li, Chenxu, et al.
Published: (2026)

Critic in the Loop: A Tri-System VLA Framework for Robust Long-Horizon Manipulation
by: Yi, Pengfei, et al.
Published: (2026)

Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
by: Lim, Hyungtae, et al.
Published: (2023)

TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
by: Wu, Longyan, et al.
Published: (2026)

FATE: Closed-Loop Feasibility-Aware Task Generation with Active Repair for Physically Grounded Robotic Curricula
by: Wei, Bingchuan, et al.
Published: (2026)

Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge
by: Yenamandra, Sriram, et al.
Published: (2024)

V-CAGE: Vision-Closed-Loop Agentic Generation Engine for Robotic Manipulation
by: Liu, Yaru, et al.
Published: (2026)

Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation
by: Ma, Jiahua, et al.
Published: (2026)

HomeRobot: Open-Vocabulary Mobile Manipulation
by: Yenamandra, Sriram, et al.
Published: (2023)

Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language
by: Wu, Qiwei, et al.
Published: (2026)

Closed Loop Interactive Embodied Reasoning for Robot Manipulation
by: Nazarczuk, Michal, et al.
Published: (2024)

Bimanual High-Density EMG Control for In-Home Mobile Manipulation by a User with Quadriplegia
by: Yang, Jehan, et al.
Published: (2026)

SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
by: Fang, Kuan, et al.
Published: (2025)

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

Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
by: Meng, Yuan, et al.
Published: (2025)

PASG: A Closed-Loop Framework for Automated Geometric Primitive Extraction and Semantic Anchoring in Robotic Manipulation
by: Zhu, Zhihao, et al.
Published: (2025)

A Novel Planning Framework for Complex Flipping Manipulation of Multiple Mobile Manipulators
by: Liu, Wenhang, et al.
Published: (2023)

Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training
by: Li, Zhenxin, et al.
Published: (2025)

GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
by: Jiang, Guangqi, et al.
Published: (2025)

DoorBot: Closed-Loop Task Planning and Manipulation for Door Opening in the Wild with Haptic Feedback
by: Wang, Zhi, et al.
Published: (2025)

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations
by: Zhang, Zhiyuan, et al.
Published: (2026)

Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control
by: Salagame, Adarsh, et al.
Published: (2024)

Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
by: Walker, Kyle L., et al.
Published: (2025)

Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
by: Honerkamp, Daniel, et al.
Published: (2024)

MORE: Mobile Manipulation Rearrangement Through Grounded Language Reasoning
by: Mohammadi, Mohammad, et al.
Published: (2025)

Systematic Analysis of Coupling Effects on Closed-Loop and Open-Loop Performance in Aerial Continuum Manipulators
by: Amiri, Niloufar, et al.
Published: (2026)

CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System
by: Guo, Huihui, et al.
Published: (2025)

A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
by: Lei, Maolin, et al.
Published: (2025)

Can Aerial VLA Models Cooperate? Evaluating Closed-Loop Air-Ground Coordination with CARLA-Air
by: Zeng, Tianle, et al.
Published: (2026)

SuperSuit: An Isomorphic Bimodal Interface for Scalable Mobile Manipulation
by: Chen, Tongqing, et al.
Published: (2026)

Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
by: Salagame, Adarsh, et al.
Published: (2024)

EHC-MM: Embodied Holistic Control for Mobile Manipulation
by: Wang, Jiawen, et al.
Published: (2024)

Robust Gaussian Splatting SLAM by Leveraging Loop Closure
by: Zhu, Zunjie, et al.
Published: (2024)

Warm-Starting Optimization-Based Motion Planning for Robotic Manipulators via Point Cloud-Conditioned Flow Matching
by: Tian, Sibo, et al.
Published: (2025)

Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator
by: Padmanabha, Akhil, et al.
Published: (2023)

HEATS: A Hierarchical Framework for Efficient Autonomous Target Search with Mobile Manipulators
by: Zhang, Hao, et al.
Published: (2025)

Grounding Large Language Models for Robot Task Planning Using Closed‐Loop State Feedback
by: Vineet Bhat, et al.
Published: (2025)