GSAM
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Related Articles from SNS
GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
Announce Type: new Abstract: Articulated object manipulation is a unique challenge for service robots. Existing methods employ end-to-end policy learning, visionmotion planning, and large-language/visual-language model (LLM/VLM), but often overlook the diversity of articulated objects and the complexity of interactions between end-effector and handle, leading to limited generalization and destructive collisions.