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2026-02-21 09:48:43
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Adaptive Skill Coordination ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation Naoki Yokoyama Alex Clegg Joanne Truong Eric Undersander Tsung-Yen Yang Sergio Arnaud Sehoon Ha Dhruv Batra Akshara Rai arXiv Main Video Real-World Deployment in Apartment 30x speed In-the-wild real-world demonstrations The following demonstrations utilize Owl-ViT for open-vocabulary object detection. Abstract We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks (e.g., mobile pick-and-place, consisting of navigating to an object, picking it, navigating to another location, placing it, repeating). ASC consists of three components -- (1) a library of basic visuomotor skills (navigation, pick, place), (2) a skill coordination policy that chooses which skills are appropriate to use when, and (3) a corrective policy that adapts pre-trained skills when out-of-distribution states a...
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