mlsanityData to 14 Oct 2026

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion

arXiv 2309.15459 ↗First posted 27 Sep 2023cs.RO cs.CVcited by 22

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Abstract (arXiv)

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while approaching it for grasping. In this work, we propose a graspability-aware mobile manipulation approach powered by an online grasping pose fusion framework that enables a temporally consistent grasping observation. Specifically, the predicted grasping poses are online organized to eliminate the redundant, outlier grasping poses, which can be encoded as a grasping pose observation state for reinforcement learning. Moreover, on-the-fly fusing the grasping poses enables a direct assessment of graspability, encompassing both the quantity and quality of grasping poses.

Key facts. Cited by 22 papers in the map (data through 14 Oct 2026). Builds on 21 of its 40 references that are in the map. First posted on arXiv 27 Sep 2023.

Builds on

21 of 40 references.

References · 21

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  3. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,214
  4. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  5. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 878
  6. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 743
  7. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  8. 2022AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domainscited by 208
  9. 2022GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRFcited by 67
  10. 2019Online Replanning in Belief Space for Partially Observable Task and Motion Problemscited by 61
  11. 2022Multi-skill Mobile Manipulation for Object Rearrangementcited by 46
  12. 20223D-Aware Object Goal Navigation via Simultaneous Exploration and Identificationcited by 46
9 more
  1. 2020Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentationcited by 40
  2. 2021Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulationcited by 35
  3. 2021Projective Manifold Gradient Layer for Deep Rotation Regressioncited by 31
  4. 2022Robot Learning of Mobile Manipulation with Reachability Behavior Priorscited by 22
  5. 2022Unseen Object 6D Pose Estimation: A Benchmark and Baselinescited by 12
  6. 2019Active Scene Understanding via Online Semantic Reconstructioncited by 11
  7. 2019Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environmentscited by 4
  8. 2021Mobile Manipulation Leveraging Multiple Viewscited by 4
  9. 2022Visibility Maximization Controller for Robotic Manipulationcited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 8; 2025: 12; 2026: 2.

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  1. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 233
  2. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 213
  3. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 62
  4. 2024RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulationcited by 58
  5. 2025TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimizationcited by 49
  6. 2024Learning Generalizable Feature Fields for Mobile Manipulationcited by 31
  7. 2024Learning Multi-Agent Loco-Manipulation for Long-Horizon Quadrupedal Pushingcited by 13
  8. 2025VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibilitycited by 11
  9. 2025SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blendingcited by 9
  10. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 9
  11. 2025Mind to Hand: Purposeful Robotic Control via Embodied Reasoningcited by 8
  12. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
10 more
  1. 2024GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulationcited by 5
  2. 2025Versatile Loco-Manipulation through Flexible Interlimb Coordinationcited by 5
  3. 2025SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learningcited by 4
  4. 2025BoxFusion: Reconstruction-Free Open-Vocabulary 3D Object Detection via Real-Time Multi-View Box Fusioncited by 3
  5. 2025Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learningcited by 3
  6. 2024QuadWBG: Generalizable Quadrupedal Whole-Body Graspingcited by 1
  7. 2025Learning Rock Pushability on Rough Planetary Terraincited by 1
  8. 2025Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Controlcited by 0
  9. 2026Learning Dynamic Pick-and-Place for a Legged Manipulatorcited by 0
  10. 2026Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splattingcited by 0