M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer

Understand

In this paper, we propose a method to create visuomotor mobile manipulation solutions for long-horizon activities.

• We propose to leverage the recent advances in simulation to train visual solutions for mobile manipulation.
• While previous works have shown success applying this procedure to autonomous visual navigation and stationary manipulation, applying it to long-horizon visuomotor mobile manipulation is still an open challenge that demands both perceptual and compositional generalization of multiple skills.
• In this work, we develop Mobile-EMBER, or M-EMBER, a factorized method that decomposes a long-horizon mobile manipulation activity into a repertoire of primitive visual skills, reinforcement-learns each skill, and composes these skills to a long-horizon mobile manipulation activity.