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simmediummobile-manipulationmetric · varies
Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation
Description
In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Affordance-Guided Coarse-to-Fine Exploration, a zero-shot framework for base placement that integrates semantic understanding from vision-language models (VLMs) with geometric feasibility through an iterativ