arxivcs.RO2026-07-07
UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation
Zhuofan Zhang, Tianxu Wang, Guoxi Zhang, Yixiong Lin, Xilin Wang, Hongming Xu, et al.
Mobile manipulation requires a robot to navigate to a target object or receptacle and then perform intended manipulation. However, reaching the vicinity of the target does not guarantee a manipulation-ready base pose, a problem known as last-mile navigation. Prior methods for las…