الملخص
Multi-agent manipulation naturally produces multiple task-driven viewpoints: every arm carries a wrist camera and moves through the scene while acting. Yet these observations are typically underutilized, and active perception in manipulation is still often treated as requiring a dedicated sensing agent. We introduce MAAP (Multi-Agent Active Perception), in which every arm is dual-purpose: it executes manipulation actions and, through the wrist camera it carries, simultaneously serves as a moving viewpoint for the team. We pair this with RAIL (Role-Aware Imitation Learning), a controller that predicts each arm's current role alongside its action chunk and conditions action generation on it, representing role-dependent actions within one network. Across four simulated tasks, widening the perception regime lifts average success from 56.5% with a fixed camera to 62.5% with one active wrist view and 70.0% with all of them, while MAAP+RAIL reaches 79.2%. RAIL's additional gain is concentrated on the three-arm Microwave task, where success rises from 47% to 82% on identical multi-wrist inputs. On a dual-arm platform, MAAP+RAIL succeeds in 14 of 20 placement trials compared with 0 of 20 for fixed-view ACT. Collaborative manipulation can thus serve as an active perception mechanism in its own right.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Chen, B. N. Y., Kang, L., Zhou, H., Song, X., Zhang, Z., Ma, J., & Qin, Y. (2026). MAAP: Multi-Agent Active Perception for Collaborative Manipulation. https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation
MLA 9
Chen, Bruno N. Y., et al. "MAAP: Multi-Agent Active Perception for Collaborative Manipulation." https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation.
شيكاغو (المؤلف–التاريخ)
Chen, Bruno N. Y., Li Kang, Heng Zhou, Xiufeng Song, Zhemeng Zhang, Jiahua Ma, and Yiran Qin. 2026. "MAAP: Multi-Agent Active Perception for Collaborative Manipulation." https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation.
هارفارد
Chen, B. N. Y., Kang, L., Zhou, H., Song, X., Zhang, Z., Ma, J. and Qin, Y. (2026) 'MAAP: Multi-Agent Active Perception for Collaborative Manipulation', Available at: https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation.
فانكوفر
Chen BNY, Kang L, Zhou H, Song X, Zhang Z, Ma J, et al. MAAP: Multi-Agent Active Perception for Collaborative Manipulation. https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation
IEEE
B. N. Y. Chen, L. Kang, H. Zhou, X. Song, Z. Zhang, J. Ma, and Y. Qin, "MAAP: Multi-Agent Active Perception for Collaborative Manipulation," https://omanscience.com/ar/articles/maap-multi-agent-active-perception-for-collaborative-manipulation.