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simmediummobile-manipulationmetric · varies
To Move or Not to Move: Constraint-based Planning Enables Zero-Shot Generalization for Interactive Navigation
Description
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter can block all routes. Targeted at such cases, we introduce the Lifelong Interactive Navigation problem, where a mobile robot with manipulation abilities can move clutter to forge its own path to complete sequential object- placement tasks - each involving plac