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simmediummobile-manipulationmetric · varies
InCoM: Intent-Driven Perception and Structured Coordination for Whole-Body Mobile Manipulation
Description
Whole-body mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinated control of the mobile base and manipulator and robust perception under dynamically changing viewpoints. However, existing approaches face two key challenges: strong coupling between base and arm actions complicates whole-body control optimization, and perceptual attention is often poorly allocated as viewpoints shift during mobile manipulation. We propose InCoM, an intent-dri