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MAVP: Map-Aware Visuomotor Policies for Mobile Manipulation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Successful mobile manipulation requires coordinated base and arm motion while maintaining accurate spatial positioning. However, demonstration-trained policies can struggle to realise the intended base motion reliably, leading to spatial misalignment and subsequent manipulation failures. We present MAVP (Map-Aware Visuomotor Policies), a framework that improves execution reliability by predicting explicit base-pose targets and tracking them using localisation feedback. MAVP reconstructs a static map from teleoperated demonstrations and expresses demonstrated base trajectories in a shared map f

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