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cs.RO2026
GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
Beichen Shao, Mengying Xie, Heng Su +5
Articulated object manipulation is a unique challenge for service robots. Existing methods employ end-to-end policy learning, visionmotion planning, and large-language/visual-langu…
cs.RO2024
MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Optimization Framework for Mobile Manipulation
Beichen Shao, Nieqing Cao, Yan Ding +3
In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and…