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simmediummobile-manipulationmetric · varies
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning
Description
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We introduce Seeing the Bigger Picture (SBP), an end-to-end policy learning approach that operates directly on a 3D map of latent features. In SBP, the map extends perception beyond the robot's current field of view and aggregates observations over long horizons. Our mapping approach incrementally fuses multiview observa