ANCHOR raises mobile manipulation success from 53.3% to 71.7% in unseen homes by binding plans to observable geometry, ensuring operable navigation endpoints, and using layered local recovery instead of global replans.
Instruction-augmented long-horizon planning: Embedding grounding mechanisms in embodied mobile manipulation
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ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation
ANCHOR raises mobile manipulation success from 53.3% to 71.7% in unseen homes by binding plans to observable geometry, ensuring operable navigation endpoints, and using layered local recovery instead of global replans.