ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation

arXiv:2604.25323 · cs.RO · Submitted 2026-04-28 · Read on arXiv

cs.RO

Submitted: 2026-04-28

Updated: 2026-09-17

Project page: https://anchor9178.github.io/ANCHOR

Terminology

• Alignment — 24× in this paper · explained in 1 episode
• Task Planning — 12× in this paper · explained in 2 episodes
• Grounding — 11× in this paper · explained in 3 episodes
• Physically Anchored Task Planning — 7× in this paper
• Success Rate — 7× in this paper
• Consistency — 6× in this paper · explained in 3 episodes
• Recovery Rate — 5× in this paper
• Failure Modes — 4× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Step-wise Success Rate — 2× in this paper
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Primitives — 1× in this paper · explained in 1 episode
• Active Perception — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Anisotropy — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes

Sources

• Open-vocabulary Mobile Manipulation in Unseen Dynamic Environments with 3D Semantic Maps
• Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
• DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation
• GPT-4 Technical Report
• Closed-Loop Long-Horizon Robotic Planning via Equilibrium Sequence Modeling
• Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback
• LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
• RePLan: Robotic Replanning with Perception and Language Models
• Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation
• UniPlan: Vision-Language Task Planning for Mobile Manipulation with Unified PDDL Formulation
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• A Survey on Robotics with Foundation Models: toward Embodied AI

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