Episode Details
Back to EpisodesSERF: 4D Latent Mapping for Long-Horizon Mobile Manipulation
Published 3 months, 1 week ago
Description
Embeds both the robot and environment into a shared 4D latent space augmented with forward-kinematics robot points, enabling a vision-language-action model to handle dynamic scenes and long-horizon memory. Outperforms image-only VLA baselines on the BEHAVIOR-1K benchmark for mobile manipulation.