In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and articulated objects. Base placement is particularly critical in such environments, where improper positioning can severely hinder task execution if the object's kinematics are not adequately accounted for. MoMa-Pos selectively reconstructs the environment by prioritizing task-relevant key objects, enhancing computational efficiency and ensuring that only essential kinematic details are processed. The framework leverages a graph-based neural network to predict object importance, allowing for focused modeling while minimizing unnecessary computations. Additionally, MoMa-Pos integrates inverse reachability maps with environmental kinematic properties to identify feasible base positions tailored to the specific robot model. Extensive evaluations demonstrate that MoMa-Pos outperforms existing methods in both real and simulated environments, offering improved efficiency, precision, and adaptability across diverse settings and robot models. Supplementary material can be found at https://yding25.com/MoMa-Pos
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
Fudan University（复旦大学）；Shanghai AI Laboratory（上海人工智能实验室）；University of Science and Technology of China（中国科学技术大学）；Northwestern Polytechnical University（西北工业大学）；TeleAI, China Telecom Corp Ltd（中国电信 TeleAI 公司）
AnyPlace: Learning Generalized Object Placement for Robot Manipulation
University of Toronto（多伦多大学）；Vector Institute（向量研究所）；Shanghai Jiao Tong University（上海交通大学）；Wilfrid Laurier University（威尔弗里德·劳里埃大学）；Acceleration Consortium（加速联盟）；Georgia Institute of Technology（佐治亚理工学院）
Learning to Reorient Objects with Stable Placements Afforded by Extrinsic Supports
The Chinese University of Hong Kong（香港中文大学）；Southern University of Science and Technology（南方科技大学）；Shenzhen Research Institute of the Chinese University of Hong Kong（香港中文大学深圳研究院）
AeroPlace-Flow: Language-Grounded Object Placement for Aerial Manipulators via Visual Foresight and Object Flow
Robotics Research Center, IIIT Hyderabad, India（印度IIIT海得拉巴机器人研究中心）；Department of Computer Science, University of Manchester, UK（英国曼彻斯特大学计算机科学系）；Newcastle University, UK（英国新castle大学）
Precise Object Placement with Pose Distance Estimations for Different Objects and Grippers
Fraunhofer Institute for Manufacturing Engineering and Automation IPA（弗劳恩霍夫制造工程与自动化研究所IPA）；Institute of Industrial Manufacturing and Management IFF, University of Stuttgart（斯图加特大学工业制造与管理研究所IFF）
Indoor Positioning Based on Active Radar Sensing and Passive Reflectors: Reflector Placement Optimization
Institute of Signal Processing and System Theory, University of Stuttgart, Stuttgart, Germany（信号处理与系统理论研究所，斯图加特大学，斯图加特，德国）；Munich Research Center, Huawei Technologies Duesseldorf GmbH, Munich, Germany（慕尼黑研究中心，华为技术杜塞尔多夫有限公司，慕尼黑，德国）
