JOIN decomposes bimanual joining into plan-drive-grasp phases and uses a VLM to let a mobile manipulator complete tasks with a pre-grasped anchor arm, achieving 19/20 success versus 14/20 for baselines on representative ADLs.
arXiv preprint arXiv:2507.00500 (2025)
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JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation
JOIN decomposes bimanual joining into plan-drive-grasp phases and uses a VLM to let a mobile manipulator complete tasks with a pre-grasped anchor arm, achieving 19/20 success versus 14/20 for baselines on representative ADLs.