KinScene: Model-Based Mobile Manipulation of Articulated Scenes

Understand

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments.

• To enable long-horizon tasks involving articulated objects, this study explores building scene-level articulation models for indoor scenes through autonomous exploration.
• While previous research has studied mobile manipulation with articulated objects by considering object kinematic constraints, it primarily focuses on individual-object scenarios and lacks extension to a scene-level context for task-level planning.
• To manipulate multiple object parts sequentially, the robot needs to reason about the resultant motion of each part and anticipate its impact on future actions.