AI RESEARCH
ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation
arXiv CS.CV
•
ArXi:2604.13633v1 Announce Type: new Coordinating navigation and manipulation with robust performance is essential for embodied AI in complex indoor environments. However, as tasks extend over long horizons, existing methods often struggle due to catastrophic forgetting, spatial inconsistency, and rigid execution. To address these issues, we propose ESCAPE (Episodic Spatial Memory Coupled with an Adaptive Policy for Execution), operating through a tightly coupled perception-grounding-execution workflow.