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MS-MEM: Multi-Skill Manipulation-Enhanced Mapping via Uncertainty- and Disturbance-Aware Action Selection

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Accurate scene understanding in confined, cluttered spaces such as shelves is essential for service robots, as many everyday tasks require them to locate and retrieve objects reliably. Yet, it remains challenging due to severe occlusions, restricted accessibility, and the need to avoid excessive scene changes. In this paper, we propose Multi-Skill Manipulation-Enhanced Mapping (MS-MEM), an evidential framework for uncertainty-aware mapping that integrates active viewpoint selection, object pushing, and grasping. MS-MEM combines scene-level metric-semantic evidential belief estimators with an u

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