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About this paper
Aditya Agarwal, William Shen, Sahit Chintalapudi, Lucy Cai, Nishanth Kumar, Aidan Curtis, Travis Manderson, Tomás Lozano-Pérez and 1 more
FEIJOA tackles mobile manipulation by grounding instructions in a posed RGB-D scan and checking whether actions are feasible and effective. FIDO queries candidate objects, inspects views, and refines searches; an embodiment-aware harness checks reachability and skill effects. Across 103 queries, FIDO achieves 94.2% exact match versus TextMap’s 68.0%, but Gemini scores 96.1%, qualifying its advantage over tested prebuilt maps.
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