LMGN: A Unified Policy Learning Model for Last-Mile Grasp-Navigation
Overview
This paper introduces LMGN, a unified policy learning framework designed for legged robots with manipulators operating in complex environments. The authors propose an Explicit Distance and Directional Reachability (ED-DR) representation to model grasp-compatible base placements and approach directions. A semantically aligned Hierarchical Mixture-of-Experts (HMoE) policy is developed to handle distinct control behaviors across stages including base adjustment, pre-grasp alignment, grasp execution, and object lift. A new optimization method jointly aligns navigation and manipulation while ensuring stage-dependent expert routing and action-level consistency. Experiments conducted on the Habitat and Isaac Gym simulators demonstrate that LMGN outperforms state-of-the-art methods in terms of success rates for last-mile navigation and target grasping.
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Environment: simulation
“HMoE policy. Extensive experiments on the Habitat and Isaac Gym simulators demonstrate that LMGN consistently outperforms state-of-the-art methods, denoting that integrating grasp-aware reachability with stage-aware policy learning significantly improves the success rates of last-mile navigation and target grasp for robots.”
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- arXiv Robotics — research abstractsSignalLMGN: A Unified Policy Learning Model for Last-Mile Grasp-Navigation
This paper introduces LMGN, a unified policy learning framework designed for legged robots with manipulators operating in complex environments. The authors propose an Explicit Distance and Directional Reachability (ED-DR) representation to model grasp-compatible base placements and approach directions. A semantically aligned Hierarchical Mixture-of-Experts (HMoE) policy is developed to handle distinct control behaviors across stages including base adjustment, pre-grasp alignment, grasp execution, and object lift. A new optimization method jointly aligns navigation and manipulation while ensuring stage-dependent expert routing and action-level consistency. Experiments conducted on the Habitat and Isaac Gym simulators demonstrate that LMGN outperforms state-of-the-art methods in terms of success rates for last-mile navigation and target grasping.
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