RoboSpan: Learning Modular Coordination Policies for High-DoF Whole-Body Mobile Manipulation with Teleoperation
From the abstract
Whole-body mobile manipulation suffers from two fundamental challenges: inherent motion heterogeneity across locomotion, arm, and hand modules, and progressive error accumulation over long-horizon multi-stage tasks. Existing teleoperation platforms also lack integrated dexterous tactile sensing to support coordinated whole-body decision-making.
From the abstract. Our summary is in progress.
The full text is not republished here because the paper's license does not allow it. Read the original on arXiv.