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

arXiv: https://arxiv.org/abs/2309.15459 · HTML: https://mlsanity.com/paper/2309.15459/

## 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 (most cited first, 21 of 21)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF](https://mlsanity.com/paper/2210.06575/) (2022)
- [Online Replanning in Belief Space for Partially Observable Task and Motion Problems](https://mlsanity.com/paper/1911.04577/) (2019)
- [Multi-skill Mobile Manipulation for Object Rearrangement](https://mlsanity.com/paper/2209.02778/) (2022)
- [3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification](https://mlsanity.com/paper/2212.00338/) (2022)
- [Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentation](https://mlsanity.com/paper/2003.06233/) (2020)
- [Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation](https://mlsanity.com/paper/2107.13545/) (2021)
- [Projective Manifold Gradient Layer for Deep Rotation Regression](https://mlsanity.com/paper/2110.11657/) (2021)
- [Robot Learning of Mobile Manipulation with Reachability Behavior Priors](https://mlsanity.com/paper/2203.04051/) (2022)
- [Unseen Object 6D Pose Estimation: A Benchmark and Baselines](https://mlsanity.com/paper/2206.11808/) (2022)
- [Active Scene Understanding via Online Semantic Reconstruction](https://mlsanity.com/paper/1906.07409/) (2019)
- [Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments](https://mlsanity.com/paper/1910.10034/) (2019)
- [Mobile Manipulation Leveraging Multiple Views](https://mlsanity.com/paper/2110.00717/) (2021)
- [Visibility Maximization Controller for Robotic Manipulation](https://mlsanity.com/paper/2202.12557/) (2022)

## Built on by (most cited first, 22 of 22)

- [NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation](https://mlsanity.com/paper/2402.15852/) (2024)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [Visual Whole-Body Control for Legged Loco-Manipulation](https://mlsanity.com/paper/2403.16967/) (2024)
- [RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation](https://mlsanity.com/paper/2407.04689/) (2024)
- [TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization](https://mlsanity.com/paper/2506.08440/) (2025)
- [Learning Generalizable Feature Fields for Mobile Manipulation](https://mlsanity.com/paper/2403.07563/) (2024)
- [Learning Multi-Agent Loco-Manipulation for Long-Horizon Quadrupedal Pushing](https://mlsanity.com/paper/2411.07104/) (2024)
- [VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility](https://mlsanity.com/paper/2503.12609/) (2025)
- [SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending](https://mlsanity.com/paper/2506.09366/) (2025)
- [Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining](https://mlsanity.com/paper/2506.16475/) (2025)
- [Mind to Hand: Purposeful Robotic Control via Embodied Reasoning](https://mlsanity.com/paper/2512.08580/) (2025)
- [WildLMa: Long Horizon Loco-Manipulation in the Wild](https://mlsanity.com/paper/2411.15131/) (2024)
- [GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation](https://mlsanity.com/paper/2411.18276/) (2024)
- [Versatile Loco-Manipulation through Flexible Interlimb Coordination](https://mlsanity.com/paper/2506.07876/) (2025)
- [SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learning](https://mlsanity.com/paper/2501.09905/) (2025)
- [BoxFusion: Reconstruction-Free Open-Vocabulary 3D Object Detection via Real-Time Multi-View Box Fusion](https://mlsanity.com/paper/2506.15610/) (2025)
- [Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning](https://mlsanity.com/paper/2507.20382/) (2025)
- [QuadWBG: Generalizable Quadrupedal Whole-Body Grasping](https://mlsanity.com/paper/2411.06782/) (2024)
- [Learning Rock Pushability on Rough Planetary Terrain](https://mlsanity.com/paper/2505.09833/) (2025)
- [Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control](https://mlsanity.com/paper/2502.14457/) (2025)
- [Learning Dynamic Pick-and-Place for a Legged Manipulator](https://mlsanity.com/paper/2605.15713/) (2026)
- [Embodied Multimodal Grounding for Open-Vocabulary Mobile Manipulation via Semantic 3D Gaussian Splatting](https://mlsanity.com/paper/2608.10756/) (2026)

## 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.