ESCAPE combines spatio-temporal fusion mapping for depth-free 3D memory with a memory-driven grounding module and adaptive execution policy to reach 65.09% success on ALFRED test-seen long-horizon mobile manipulation tasks.
In: RSS 2024 Workshop: Data Generation for Robotics (2024)
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ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation
ESCAPE combines spatio-temporal fusion mapping for depth-free 3D memory with a memory-driven grounding module and adaptive execution policy to reach 65.09% success on ALFRED test-seen long-horizon mobile manipulation tasks.