InCoM achieves 23-28% higher success rates in mobile manipulation tasks by inferring motion intent for adaptive perception and decoupling base-arm action generation.
Available: https://arxiv.org/abs/2010.01083
2 Pith papers cite this work. Polarity classification is still indexing.
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PACTS jointly model action trajectories and predicate belief trajectories in a single generative policy, enabling zero-shot skill composition via symbolic planning without retraining.
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InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation
InCoM achieves 23-28% higher success rates in mobile manipulation tasks by inferring motion intent for adaptive perception and decoupling base-arm action generation.
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Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
PACTS jointly model action trajectories and predicate belief trajectories in a single generative policy, enabling zero-shot skill composition via symbolic planning without retraining.