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Manipulation Feasible Navigation Among Movable Obstacles with Discrete Contact Pushing

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

In environments with large movable obstacles, detour-only navigation can be inefficient or even infeasible, while obstacle interaction requires reasoning about navigation benefit, feasible placement, and executable manipulation. We present a hierarchical navigation among movable obstacles (NAMO) framework for mobile manipulators. At the high level, the planner identifies key blocking obstacles from reference paths and searches for relocation plans that jointly satisfy geometric, manipulation, and downstream navigation constraints. When direct relocation is hindered by other movable objects, a

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