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In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively.
Navigation among movable obstacles: Real-time reasoning in complex environments
Mike Stilman and James J Kuffner · 2005
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Interactive navigation of multiple agents in crowded environments
Jur Van Den Berg, Sachin Patil, Jason Sewall, Dinesh Manocha, and Ming Lin · 2008
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Vision meets robotics: The kitti dataset
Andreas Geiger, Philip Lenz, Christoph Stiller, and Raquel Urtasun · 2013
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours
Lerrel Pinto and Abhinav Kumar Gupta · 2015
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
Sergey Levine, Peter Pastor, Alex Krizhevsky, and Deirdre Quillen · 2016
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Matterport3d: Learning from rgb-d data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niessner, Manolis Savva, Shuran Song, Andy Zeng, and Yinda Zhang · 2017
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Adam: A method for stochastic optimization, 2017
Diederik P. Kingma and Jimmy Ba · 2017
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Attention is all you need
A Vaswani · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
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Embodied question answering
Abhishek Das, Samyak Datta, Georgia Gkioxari, Stefan Lee, Devi Parikh, and Dhruv Batra · 2018
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Roboturk: A crowdsourcing platform for robotic skill learning through imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, and Li Fei-Fei · 2018
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Multiple interactions made easy (mime): Large scale demonstrations data for imitation
Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, and Abhinav Kumar Gupta · 2018
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Gibson env: Real-world perception for embodied agents
Fei Xia, Amir R Zamir, Zhiyang He, Alexander Sax, Jitendra Malik, and Silvio Savarese · 2018
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yuxin Pan, Giancarlo Baldan, and Oscar Beijbom · 2019
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Robonet: Large-scale multi-robot learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2019
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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Deep hough voting for 3d object detection in point clouds
Charles R. Qi, Or Litany, Kaiming He, and Leonidas J. Guibas · 2019
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Scalability in perception for autonomous driving: Waymo open dataset
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurelien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, Vijay Vasudevan, Wei Han, Jiquan Ngiam, Hang Zhao, Aleksei Timofeev, Scott M. Ettinger, Maxim Krivokon, Amy Gao, Aditya Joshi, Yu Zhang, Jonathon Shlens, Zhifeng Chen, and Dragomir Anguelov · 2019
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Embodied question answering in photorealistic environments with point cloud perception
Erik Wijmans, Samyak Datta, Oleksandr Maksymets, Abhishek Das, Georgia Gkioxari, Stefan Lee, Irfan Essa, Devi Parikh, and Dhruv Batra · 2019
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Multi-target embodied question answering
Licheng Yu, Xinlei Chen, Georgia Gkioxari, Mohit Bansal, Tamara L Berg, and Dhruv Batra · 2019
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Rearrangement: A challenge for embodied ai
Dhruv Batra, Angel X Chang, Sonia Chernova, Andrew J Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, et al · 2020
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Contactpose: A dataset of grasps with object contact and hand pose
Samarth Brahmbhatt, Chengcheng Tang, Christopher D Twigg, Charles C Kemp, and James Hays · 2020
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Ganhand: Predicting human grasp affordances in multi-object scenes
Enric Corona, Albert Pumarola, Guillem Alenya, Francesc Moreno-Noguer, and Grégory Rogez · 2020
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Probing emergent semantics in predictive agents via question answering
Abhishek Das, Federico Carnevale, Hamza Merzic, Laura Rimell, Rosalia Schneider, Josh Abramson, Alden Hung, Arun Ahuja, Stephen Clark, Gregory Wayne, et al · 2020
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Beyond the nav-graph: Vision-and-language navigation in continuous environments
Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, and Stefan Lee · 2020
Cited alongside, same era.
Room-across-room: Multilingual vision-and-language navigation with dense spatiotemporal grounding
Alexander Ku, Peter Anderson, Roma Patel, Eugene Ie, and Jason Baldridge · 2020
Cited alongside, same era.
Hrl4in: Hierarchical reinforcement learning for interactive navigation with mobile manipulators
Chengshu Li, Fei Xia, Roberto Martin-Martin, and Silvio Savarese · 2020
Cited alongside, same era.
Reverie: Remote embodied visual referring expression in real indoor environments
Yuankai Qi, Qi Wu, Peter Anderson, Xin Wang, William Yang Wang, Chunhua Shen, and Anton van den Hengel · 2020
Cited alongside, same era.
Grab: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J Black, and Dimitrios Tzionas · 2020
Cited alongside, same era.
M-ember: Tackling long-horizon mobile manipulation via factorized domain transfer
Bohan Wu, Roberto Martin-Martin, and Li Fei-Fei · 2023
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Language models meet world models: Embodied experiences enhance language models
Jiannan Xiang, Tianhua Tao, Yi Gu, Tianmin Shu, Zirui Wang, Zichao Yang, and Zhiting Hu · 2023
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Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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Homerobot: Open-vocabulary mobile manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, et al · 2023
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Asc: Adaptive skill coordination for robotic mobile manipulation
Naoki Yokoyama, Alex Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, and Akshara Rai · 2023
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Affordance-based mobile robot navigation among movable obstacles
Maozhen Wang, Rui Luo, Aykut Özgün Önol, and Taşkin Padir · 2020
Cited alongside, same era.
Interactive gibson benchmark: A benchmark for interactive navigation in cluttered environments
Fei Xia, William B Shen, Chengshu Li, Priya Kasimbeg, Micael Edmond Tchapmi, Alexander Toshev, Roberto Martín-Martín, and Silvio Savarese · 2020
Cited alongside, same era.
SAPIEN: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
Cited alongside, same era.
H3dnet: 3d object detection using hybrid geometric primitives
Zaiwei Zhang, Bo Sun, Haitao Yang, and Qi-Xing Huang · 2020
Cited alongside, same era.
Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh K Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
Cited alongside, same era.
Visual room rearrangement
Luca Weihs, Matt Deitke, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2021
Cited alongside, same era.
Pushing it out of the way: Interactive visual navigation
Kuo-Hao Zeng, Luca Weihs, Ali Farhadi, and Roozbeh Mottaghi · 2021
Cited alongside, same era.
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Autort: Embodied foundation models for large scale orchestration of robotic agents
Michael Ahn, Debidatta Dwibedi, Chelsea Finn, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Karol Hausman, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, et al · 2024
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Manipulate-anything: Automating real-world robots using vision-language models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, and Ranjay Krishna · 2024
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Spoc: Imitating shortest paths in simulation enables effective navigation and manipulation in the real world
Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Kuo-Hao Zeng, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, et al · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Learning 2d invariant affordance knowledge for 3d affordance grounding
Xianqiang Gao, Pingrui Zhang, Delin Qu, Dong Wang, Zhigang Wang, Yan Ding, Bin Zhao, and Xuelong Li · 2024
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Habitat synthetic scenes dataset (hssd-200): An analysis of 3d scene scale and realism tradeoffs for objectgoal navigation
Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X Chang, and Manolis Savva · 2024
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Simultaneous detection and interaction reasoning for object-centric action recognition
Xunsong Li, Pengzhan Sun, Yangcen Liu, Lixin Duan, and Wen Li · 2024
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Task planning for visual room rearrangement under partial observability
Karan Mirakhor, Sourav Ghosh, Dipanjan Das, and Brojeshwar Bhowmick · 2024
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Open-vocabulary mobile manipulation in unseen dynamic environments with 3d semantic maps
Dicong Qiu, Wenzong Ma, Zhenfu Pan, Hui Xiong, and Junwei Liang · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks
Tianhe Ren, Shilong Liu, Ailing Zeng, Jing Lin, Kunchang Li, He Cao, Jiayu Chen, Xinyu Huang, Yukang Chen, Feng Yan, Zhaoyang Zeng, Hao Zhang, Feng Li, Jie Yang, Hongyang Li, Qing Jiang, and Lei Zhang · 2024
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Beichen Shao, Nieqing Cao, Yan Ding, Xingchen Wang, Fuqiang Gu, and Chao Chen · 2024
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Any2point: Empowering any-modality large models for efficient 3d understanding
Yiwen Tang, Jiaming Liu, Dong Wang, Zhigang Wang, Shanghang Zhang, Bin Zhao, and Xuelong Li · 2024
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Oakink2: A dataset of bimanual hands-object manipulation in complex task completion
Xinyu Zhan, Lixin Yang, Yifei Zhao, Kangrui Mao, Hanlin Xu, Zenan Lin, Kailin Li, and Cewu Lu · 2024
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Question-guided knowledge graph re-scoring and injection for knowledge graph question answering
Yu Zhang, Kehai Chen, Xuefeng Bai, Zhao Kang, Quanjiang Guo, and Min Zhang · 2024
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Navgpt-2: Unleashing navigational reasoning capability for large vision-language models
Gengze Zhou, Yicong Hong, Zun Wang, Xin Eric Wang, and Qi Wu · 2024
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Navi2gaze: Leveraging foundation models for navigation and target gazing
Jun Zhu, Zihao Du, Haotian Xu, Fengbo Lan, Zilong Zheng, Bo Ma, Shengjie Wang, and Tao Zhang · 2024
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Agibot world colosseo: A large-scale manipulation platform for scalable and intelligent embodied systems
AgiBot-World-Contributors, Qingwen Bu, Jisong Cai, Li Chen, Xiuqi Cui, Yan Ding, Siyuan Feng, Shenyuan Gao, Xindong He, Xu Huang, Shu Jiang, Yuxin Jiang, Cheng Jing, Hongyang Li, Jialun Li, Chiming Liu, Yi Liu, Yuxiang Lu, Jianlan Luo, Ping Luo, Yao Mu, Yuehan Niu, Yixuan Pan, Jiangmiao Pang, Yu Qiao, Guanghui Ren, Cheng-Xing Ruan, Jiaqi Shan, Yongjian Shen, Chengshi Shi, Mi Shi, Modi Shi, Chonghao Sima, Jianheng Song, Huijie Wang, Wenhao Wang, Dafeng Wei, Chengen Xie, Guo-Liang Xu, Junchi Yan, Cunbiao Yang, Lei Yang, Shukai Yang, Maoqing Yao, Jia Zeng, Chi Zhang, Qingli Zhang, Bin Zhao, Chengyu Zhao, Jiaqi Zhao, and Jianchao Zhu · 2025
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Behavior robot suite: Streamlining real-world whole-body manipulation for everyday household activities
Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, and Fei-Fei Li · 2025
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Fastumi: A scalable and hardware-independent universal manipulation interface with dataset, 2025
Zhaxizhuoma, Kehui Liu, Chuyue Guan, Zhongjie Jia, Ziniu Wu, Xin Liu, Tianyu Wang, Shuai Liang, Pengan Chen, Pingrui Zhang, Haoming Song, Delin Qu, Dong Wang, Zhigang Wang, Nieqing Cao, Yan Ding, Bin Zhao, and Xuelong Li · 2025
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