AnywhereVLA: Language-Conditioned Exploration and Mobile Manipulation

• URL: http://arxiv.org/abs/2509.21006v1
• Date: Thu, 25 Sep 2025 11:04:44 GMT
• Title: AnywhereVLA: Language-Conditioned Exploration and Mobile Manipulation
• Authors: Konstantin Gubernatorov, Artem Voronov, Roman Voronov, Sergei Pasynkov, Stepan Perminov, Ziang Guo, Dzmitry Tsetserukou,
• Abstract summary: AnywhereVLA is a modular framework for mobile manipulation.<n>A text prompt serves as an entry point and is parsed into a structured task graph.<n>For interaction, a compact SmolVLA manipulation head is fine tuned on platform pick and place trajectories.
• Score: 1.8266092127796327
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: We address natural language pick-and-place in unseen, unpredictable indoor environments with AnywhereVLA, a modular framework for mobile manipulation. A user text prompt serves as an entry point and is parsed into a structured task graph that conditions classical SLAM with LiDAR and cameras, metric semantic mapping, and a task-aware frontier exploration policy. An approach planner then selects visibility and reachability aware pre grasp base poses. For interaction, a compact SmolVLA manipulation head is fine tuned on platform pick and place trajectories for the SO-101 by TheRobotStudio, grounding local visual context and sub-goals into grasp and place proposals. The full system runs fully onboard on consumer-level hardware, with Jetson Orin NX for perception and VLA and an Intel NUC for SLAM, exploration, and control, sustaining real-time operation. We evaluated AnywhereVLA in a multi-room lab under static scenes and normal human motion. In this setting, the system achieves a $46\%$ overall task success rate while maintaining throughput on embedded compute. By combining a classical stack with a fine-tuned VLA manipulation, the system inherits the reliability of geometry-based navigation with the agility and task generalization of language-conditioned manipulation.

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