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simmediumgraspingmetric · varies
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
Description
In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively. Many navigation approaches primarily define success by proximity to the target, often overlooking the necessity for optimal positioning that facilitates subsequent manipulation. To address this, we introduce MoMa-Kitchen, a benchmark dataset comprising over 100k samples that provide training data for mode