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Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments.
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A compositional object-based approach to learning physical dynamics
M. B. Chang, T. Ullman, A. Torralba, and J. B. Tenenbaum · 2016
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An introduction to trajectory optimization: How to do your own direct collocation
M. Kelly · 2017
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The pinocchio c++ library: A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
J. Carpentier, G. Saurel, G. Buondonno, J. Mirabel, F. Lamiraux, O. Stasse, and N. Mansard · 2019
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Learning-based model predictive control: Toward safe learning in control
L. Hewing, K. P. Wabersich, M. Menner, and M. N. Zeilinger · 2020
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Alfred: A benchmark for interpreting grounded instructions for everyday tasks
M. Shridhar, J. Thomason, D. Gordon, Y. Bisk, W. Han, R. Mottaghi, L. Zettlemoyer, and D. Fox · 2020
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Mobile manipulator for autonomous localization, grasping and precise placement of construction material in a semi-structured environment
P. Štibinger, G. Broughton, F. Majer, Z. Rozsypálek, A. Wang, K. Jindal, A. Zhou, D. Thakur, G. Loianno, T. Krajník, et al · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
M. Sundermeyer, A. Mousavian, R. Triebel, and D. Fox · 2021
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Multi-skill mobile manipulation for object rearrangement
J. Gu, D. S. Chaplot, H. Su, and J. Malik · 2022
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Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
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O2o-afford: Annotation-free large-scale object-object affordance learning
K. Mo, Y. Qin, F. Xiang, H. Su, and L. Guibas · 2022
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R. Yang, Y. Kim, R. Hendrix, A. Kembhavi, X. Wang, and K. Ehsani · 2023
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Skill transformer: A monolithic policy for mobile manipulation
X. Huang, D. Batra, A. Rai, and A. Szot · 2023
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Asc: Adaptive skill coordination for robotic mobile manipulation
N. Yokoyama, A. Clegg, J. Truong, E. Undersander, T.-Y. Yang, S. Arnaud, S. Ha, D. Batra, and A. Rai · 2023
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Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
H.-S. Fang, C. Wang, H. Fang, M. Gou, J. Liu, H. Yan, W. Liu, Y. Xie, and C. Lu · 2023
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Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Y. Ze, G. Yan, Y.-H. Wu, A. Macaluso, Y. Ge, J. Ye, N. Hansen, L. E. Li, and X. Wang · 2023
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Homerobot: Open-vocabulary mobile manipulation
S. Yenamandra, A. Ramachandran, K. Yadav, A. Wang, M. Khanna, T. Gervet, T.-Y. Yang, V. Jain, A. W. Clegg, J. Turner, et al · 2023
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Synthesizing navigation abstractions for planning with portable manipulation skills
E. Rosen, S. James, S. Orozco, V. Gupta, M. Merlin, S. Tellex, and G. Konidaris · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
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Dinov2: Learning robust visual features without supervision
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Segment anything
A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, et al · 2023
Find everything: A general vision language model approach to multi-object search
D. Choi, A. Fung, H. Wang, and A. H. Tan · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
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Learning generalizable feature fields for mobile manipulation
R.-Z. Qiu, Y. Hu, G. Yang, Y. Song, Y. Fu, J. Ye, J. Mu, R. Yang, N. Atanasov, S. Scherer, et al · 2024
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M2diffuser: Diffusion-based trajectory optimization for mobile manipulation in 3d scenes
S. Yan, Z. Zhang, M. Han, Z. Wang, Q. Xie, Z. Li, Z. Li, H. Liu, X. Wang, and S.-C. Zhu · 2024
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Cited alongside, same era.
Uniteam: Open vocabulary mobile manipulation challenge
A. Melnik, M. Büttner, L. Harz, L. Brown, G. C. Nandi, A. PS, G. K. Yadav, R. Kala, and R. Haschke · 2023
Cited alongside, same era.
L3mvn: Leveraging large language models for visual target navigation
B. Yu, H. Kasaei, and M. Cao · 2023
Cited alongside, same era.
Adaptive mobile manipulation for articulated objects in the open world
H. Xiong, R. Mendonca, K. Shaw, and D. Pathak · 2024
Cited alongside, same era.
Robi butler: Remote multimodal interactions with household robot assistant
A. Xiao, N. Janaka, T. Hu, A. Gupta, K. Li, C. Yu, and D. Hsu · 2024
Cited alongside, same era.
Composable interaction primitives: A structured policy class for efficiently learning sustained-contact manipulation skills
B. Abbatematteo, E. Rosen, S. Thompson, T. Akbulut, S. Rammohan, and G. Konidaris · 2024
Cited alongside, same era.
Y. Peng, Z. Wang, Y. Zhang, S. Zhang, N. Cai, F. Wu, and M. Chen · 2024
Cited alongside, same era.
Manipllm: Embodied multimodal large language model for object-centric robotic manipulation
X. Li, M. Zhang, Y. Geng, H. Geng, Y. Long, Y. Shen, R. Zhang, J. Liu, and H. Dong · 2024
Cited alongside, same era.
R. Mendonca, E. Panov, B. Bucher, J. Wang, and D. Pathak · 2024
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Ok-robot: What really matters in integrating open-knowledge models for robotics
P. Liu, Y. Orru, J. Vakil, C. Paxton, N. M. M. Shafiullah, and L. Pinto · 2024
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Aim my robot: Precision local navigation to any object
X. Meng, X. Yang, S. Jung, F. Ramos, S. S. Jujjavarapu, S. Paul, and D. Fox · 2024
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Verifiably following complex robot instructions with foundation models
B. Quartey, E. Rosen, S. Tellex, and G. Konidaris · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
W. Huang, C. Wang, Y. Li, R. Zhang, and L. Fei-Fei · 2024
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Generalizable humanoid manipulation with improved 3d diffusion policies
Y. Ze, Z. Chen, W. Wang, T. Chen, X. He, Y. Yuan, X. B. Peng, and J. Wu · 2024
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Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning
Q. Gu, A. Kuwajerwala, S. Morin, K. M. Jatavallabhula, B. Sen, A. Agarwal, C. Rivera, W. Paul, K. Ellis, R. Chellappa, et al · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks
T. Ren, S. Liu, A. Zeng, J. Lin, K. Li, H. Cao, J. Chen, X. Huang, Y. Chen, F. Yan, et al · 2024
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Momanipvla: Transferring vision-language-action models for general mobile manipulation
Z. Wu, Y. Zhou, X. Xu, Z. Wang, and H. Yan · 2025
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Moma-kitchen: A 100k+ benchmark for affordance-grounded last-mile navigation in mobile manipulation
P. Zhang, X. Gao, Y. Wu, K. Liu, D. Wang, Z. Wang, B. Zhao, Y. Ding, and X. Li · 2025
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Instruction-augmented long-horizon planning: Embedding grounding mechanisms in embodied mobile manipulation
F. Wang, S. Lyu, P. Zhou, A. Duan, G. Guo, and D. Navarro-Alarcon · 2025
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