Exploratory, Communicative, and Deployable: Vision-Driven Embodied Agents for Open-World Mobile Manipulation
Real-world deployment of embodied agents requires active exploration, visual grounding, and interactive intent disambiguation. However, existing frameworks often rely on privileged simulator states or assume complete instructions, bypassing realistic deployment challenges. To bridge this gap, we present REAL, an agentic framework for open-world mobile manipulation. REAL establishes sim-to-real-consistent environment APIs without oracle perception and integrates a simulated user to enable human-in-the-loop interaction. Within this environment, we design diverse task compositions to drive data collection, supervised fine-tuning, and online reinforcement learning, systematically optimizing a...
| Authors | Boyu Mi, Mengchen Ma, Yifei Yao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 15 July 2026 |
| Last updated at source | 27 July 2026 |
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