MoTo turns existing fixed-base manipulation models into mobile manipulators by using VLM-picked contact keypoints and trajectory optimization to find docking points, with no training of MoTo itself.
Move a target object from container A to container B
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MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
MoTo turns existing fixed-base manipulation models into mobile manipulators by using VLM-picked contact keypoints and trajectory optimization to find docking points, with no training of MoTo itself.