GODHS uses an LLM to rank rooms, carriers, and carrier features and a polar-angle pose sorter to guide a mobile manipulator, cutting simulated search effort to about one third of non-semantic baselines.
APT*: Asymptotically optimal motion planning via adaptively prolated elliptical r-nearest neighbors,
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Language-Enhanced Mobile Manipulation for Efficient Object Search in Indoor Environments
GODHS uses an LLM to rank rooms, carriers, and carrier features and a polar-angle pose sorter to guide a mobile manipulator, cutting simulated search effort to about one third of non-semantic baselines.