[2401.14403] Adaptive Mobile Manipulation for Articulated Objects In the Open World

Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is…

Adaptive Mobile Manipulation for Articulated Objects In the Open World Haoyu Xiong CMU Russell Mendonca CMU Kenneth Shaw CMU Deepak Pathak CMU This work was supported by Carnegie Mellon University. Abstract Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to pick-move-place, which is arguably just the tip of the iceberg in this area. In this paper, we introduce Open-World Mobile Manipulation System, a full-stack app

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