AI RESEARCH
M4Diffuser: Multi-View Diffusion Policy with Manipulability-Aware Control for Robust Mobile Manipulation
arXiv CS.CV
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ArXi:2509.14980v2 Announce Type: replace-cross Mobile manipulation requires the coordinated control of a mobile base and a robotic arm while simultaneously perceiving both global scene context and fine-grained object details. Existing single-view approaches often fail in unstructured environments due to limited fields of view, exploration, and generalization abilities. Moreover, classical controllers, although stable, struggle with efficiency and manipulability near singularities.