Grasp-TAGS: Task-Aware Grasp Selection via Critic Distillation for Prehensile Loco-Manipulation
Loco-manipulation, which requires mobile manipulators to coordinate locomotion and manipulation over long horizons, is a key capability for large-object rearrangement in applications such as service robotics and warehouse automation. Despite recent progress, reliably executing these tasks remains challenging because performance depends on complex robot-object and object-environment interaction…
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