Visibility-Aware Mobile Grasping in Dynamic Environments

arXiv:2605.02487 · cs.RO · Submitted 2026-05-04 · Read on arXiv

cs.RO

Submitted: 2026-05-04

Updated: 2026-09-19

Project page: https://visibility-aware-mobile-grasping.github.io

Terminology

• Active Perception — 18× in this paper · explained in 2 episodes
• Benchmark — 10× in this paper · explained in 2 episodes
• Core — 5× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 5× in this paper
• Ablation — 4× in this paper · explained in 1 episode
• Decoupling — 4× in this paper · explained in 2 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Failure Modes — 2× in this paper · explained in 3 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Monte Carlo Localization — 1× in this paper
• Domain Shift — 1× in this paper · explained in 4 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Model Predictive Control — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Phase Transitions — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics
• Go Fetch: Mobile Manipulation in Unstructured Environments
• Robi Butler: Multimodal Remote Interaction with a Household Robot Assistant
• Look before you sweep: Visibility-aware motion planning
• Perception-Aware Motion Planning via Multiobjective Search on GPUs
• Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
• Affordance-Driven Next-Best-View Planning for Robotic Grasping
• Hypothesis-based Belief Planning for Dexterous Grasping
• Neural Randomized Planning for Whole Body Robot Motion
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation
• QuadWBG: Generalizable Quadrupedal Whole-Body Grasping
• GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
• RT-1: Robotics Transformer for Real-World Control at Scale
• PaLM-E: An Embodied Multimodal Language Model
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation
• MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

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