SERF: 4D Latent Mapping for Long-Horizon Mobile Manipulation

from Embodied AI 101 · host Shaoqing Tan

Embeds both the robot and environment into a shared 4D latent space augmented with forward-kinematics robot points, enabling a vision-language-action model to handle dynamic scenes and long-horizon memory. Outperforms image-only VLA baselines on the BEHAVIOR-1K benchmark for mobile manipulation.

Episode metadata supplied by the publisher feed · Published Jun 30, 2026

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SERF: 4D Latent Mapping for Long-Horizon Mobile Manipulation

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