Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
Mayank Mittal,David Hoeller,Farbod Farshidian,Marco Hutter,Animesh Garg,Mayank Mittal,David Hoeller,Farbod Farshidian,Marco Hutter,Animesh Garg
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid mobility. While mobile manipulators in different form factors provide an extended workspace, their real-world adoption has been limited. Executing a high-level task fo...
