Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMs
Wenke Xia,Dong Wang,Xincheng Pang,Zhigang Wang,Bin Zhao,Di Hu,Xuelong Li,Wenke Xia,Dong Wang,Xincheng Pang,Zhigang Wang,Bin Zhao,Di Hu,Xuelong Li
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of real-world data collection and precise object simulation, it still remains challenging for these works to achieve broad adaptability across diverse articulated objects. ...
