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Visibility-aware mobile grasping system for dynamic environments

The authors propose a unified system that simultaneously constrains collision risk along the whole-body trajectory and target visibility during grasping in unknown and dynamic environments, comprising three parts: a velocity-aware gaze policy, a hierarchical subgoal policy, and a receding-horizon whole-body planner. In 400 randomized simulation scenarios and real-world trials on a Fetch mobile manipulator, the system achieved success rates of 70.4% in unknown static environments and 57.9% in dynamic environments, 16.3 and 9.3 percentage points higher than decoupled navigation and manipulation policies, respectively, while significantly reducing collisions.

Part of the event: Authors Propose Visibility-Aware Mobile Grasping System for Dynamic Environments

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