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MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment

arXiv · AI, language, vision and robotics · article · Sep 10, 2026 · UTC

Mobile manipulation requires perceptual evidence at different spatial scales for base motion and arm control, while the two action modalities remain kinematically coupled. Existing policies often employ specialized action generation for different subsystems but condition heterogeneous action branches on a shared perceptual representation, leaving subsystem-specific perception-action correspondence implicit. We present MoPA, a framework that aligns perceptual conditioning with mobility and manipulation while preserving coordination at the action level. Dual Perceptual Streams employ two mutuall

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