← Back to Benchmarks
simmediummobile-manipulationmetric · varies
M4Diffuser: Multi-View Diffusion Policy with Manipulability-Aware Control for Robust Mobile Manipulation
Description
Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. Existing single-view approaches often fail in unstructured environments due to limited fields of view, exploration, and generalization abilities. Moreover, classical controllers, although stable, struggle with efficiency and manipulability near singularities. To address these challenges, we propose M4Diffuser, a hybrid