MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation explores MoMaStage is a structured vision-language framework for long-horizon mobile manipulation that uses a skill-state graph to ensure logically consistent plans and robust execution, outperforming state-of-the-art baselines.. Commercial viability score: 8/10 in Robotics.
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