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simmediummobile-manipulationmetric · varies
HELIOS: Hierarchical Exploration for Language-Grounded Interaction in Open Scenes
Description
Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed scene, and actively updating knowledge of the scene with new observations. To address these challenges, we propose HELIOS, a hierarchical scene representation and associated search objective. We construct 2D maps containing the relevant semantic and occupancy