Preprint
Sep 2026
UniWAM Technical Report: Unified Mobile Manipulation via Mixed-Stream World-Action Modeling and Manipulation Anchor Pose Supervision
Mobile manipulation requires precise navigation to a manipulation-ready pose followed by reliable object interaction. These two stages differ in action spaces and visual requirements, which complicates unified policy learning. In addition, collecting diverse real-world navigation data with explicit manipulation-ready p...
Wei Xue, Ke-Liang Liu, Ming-Zhang Cui et al.
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