notesum.ai

Published at November 22

WildLMa: Long Horizon Loco-Manipulation in the Wild

cs.RO

cs.CV

Released Date: November 22, 2024

Authors: Ri-Zhao Qiu¹, Yuchen Song¹, Xuanbin Peng¹, Sai Aneesh Suryadevara¹, Ge Yang², Minghuan Liu¹, Mazeyu Ji¹, Chengzhe Jia¹, Ruihan Yang¹, Xueyan Zou¹, Xiaolong Wang³

Aff.: ¹UC San Diego; ²MIT; ³UC San Diego, NVIDIA

Arxiv: http://arxiv.org/abs/2411.15131v1

Method	I.D.	O.O.D.	I.D.	O.O.D	I.D.	O.O.D	Avg. Succ.
	Tabletop Grasping		Button Pressing		Ground Grasping
WildLMa (Ours)	94.4%	75%	80%	57.5%	60%	60%	71.2%
ACT (Mobile ALOHA) [fu2024mobilealoha]	77.8%	19.4%	55%	25%	60%	30%	40.8%
OpenTV [cheng2024-opentv]	88.9%	77.8%	75%	25%	50%	50%	64.4%
VBC [liu2024-vbc]	50%^∗	50%^∗	NA^†	NA^†	43.8%^∗	43.8%^∗	46.9%
GeFF [qiu2024-geff]	55.6%^∗	55.6%^∗	NA^†	NA^†	NA^†	NA^†	55.6%