Embodied Manipulation Survey Overview
Figure 1: Overview of the survey. We provide an extensive introduction to embodied manipulation, including high-level planner and low-level controller. Our introduction to the low-level controller mainly focuses on the learning-based strategy.
논문 컨텍스트
Paper title: Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives Abstract: Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation from an algorithmic perspective and organizes recent learning-based approaches within a unified abstraction of high-level planning and low-level control. At the high level, we extend the classical notion of task planning to include reasoning over language, code, motion, affordances, and 3D representations, emphasizing their role in structured and long-horizon decision making. At the low level, we propose a training-paradigm-oriented taxonomy for learning-based control, organizing existing methods along input modeling, latent representation learning, and policy learning. Finally, we identify open challenges and prospective research directions related to scalability, data efficiency, multimodal physical interaction, and safety. Together, these analyses aim to clarify the design space of modern foundation models for robotic manipulation. Passages referencing this figure: I Introduction Figure 1: Overview of the survey.
