TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.22296v1 Announce Type: new Abstract: Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readiness, while tracking lag, motion jitter, and contact instability limit continuous interaction.