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We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation.
Dynamic walk of a biped
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Anymal-a highly mobile and dynamic quadrupedal robot
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Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot
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B. Calli, A. Singh, J. Bruce, A. Walsman, K. Konolige, S. Srinivasa, P. Abbeel, and A. M. Dollar · 2017
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Dynamic walking on randomly-varying discrete terrain with one-step preview
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Proximal policy optimization algorithms
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Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
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Probabilistic terrain mapping for mobile robots with uncertain localization
P. Fankhauser, M. Bloesch, and M. Hutter · 2018
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Alma-articulated locomotion and manipulation for a torque-controllable robot
C. D. Bellicoso, K. Krämer, M. Stäuble, D. Sako, F. Jenelten, M. Bjelonic, and M. Hutter · 2019
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Optimized jumping on the mit cheetah 3 robot
Q. Nguyen, M. J. Powell, B. Katz, J. Di Carlo, and S. Kim · 2019
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State estimation for legged robots using contact-centric leg odometry
S. Yang, H. Kumar, Z. Gu, X. Zhang, M. Travers, and H. Choset · 2019
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Robust legged robot state estimation using factor graph optimization
D. Wisth, M. Camurri, and M. Fallon · 2019
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Optimisation of body-ground contact for augmenting the whole-body loco-manipulation of quadruped robots
W. J. Wolfslag, C. McGreavy, G. Xin, C. Tiseo, S. Vijayakumar, and Z. Li · 2020
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Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
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Learning agile robotic locomotion skills by imitating animals
X. B. Peng, E. Coumans, T. Zhang, T.-W. Lee, J. Tan, and S. Levine · 2020
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Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning, 2020
C. R. Garrett, T. Lozano-Pérez, and L. P. Kaelbling · 2020
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Energy-based imitation learning
M. Liu, T. He, M. Xu, and W. Zhang · 2020
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Go fetch!-dynamic grasps using boston dynamics spot with external robotic arm
S. Zimmermann, R. Poranne, and S. Coros · 2021
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Associating objects with transformers for video object segmentation
Z. Yang, Y. Wei, and Y. Yang · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, et al · 2021
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Pybullet, a python module for physics simulation for games, robotics and machine learning
E. Coumans and Y. Bai · 2021
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
Cited alongside, same era.
Z. Zhuang, Z. Fu, J. Wang, C. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao · 2023
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Learning vision-based bipedal locomotion for challenging terrain
H. Duan, B. Pandit, M. S. Gadde, B. J. van Marum, J. Dao, C. Kim, and A. Fern · 2023
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Deep whole-body control: learning a unified policy for manipulation and locomotion
Z. Fu, X. Cheng, and D. Pathak · 2023
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Gamma: Graspability-aware mobile manipulation policy learning based on online grasping pose fusion
J. Zhang, N. Gireesh, J. Wang, X. Fang, C. Xu, W. Chen, L. Dai, and H. Wang · 2023
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Visual-locomotion: Learning to walk on complex terrains with vision
W. Yu, D. Jain, A. Escontrela, A. Iscen, P. Xu, E. Coumans, S. Ha, J. Tan, and T. Zhang · 2021
Cited alongside, same era.
Reinforcement learning for robust parameterized locomotion control of bipedal robots
Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2021
Cited alongside, same era.
Relmogen: Leveraging motion generation in reinforcement learning for mobile manipulation, 2021
F. Xia, C. Li, R. Martín-Martín, O. Litany, A. Toshev, and S. Savarese · 2021
Cited alongside, same era.
Combining learning-based locomotion policy with model-based manipulation for legged mobile manipulators
Y. Ma, F. Farshidian, T. Miki, J. Lee, and M. Hutter · 2022
Cited alongside, same era.
Reinforcement learning with automated auxiliary loss search
T. He, Y. Zhang, K. Ren, M. Liu, C. Wang, W. Zhang, Y. Yang, and D. Li · 2022
Cited alongside, same era.
Mastering visual continuous control: Improved data-augmented reinforcement learning
D. Yarats, R. Fergus, A. Lazaric, and L. Pinto · 2022
Cited alongside, same era.
Continuous jumping for legged robots on stepping stones via trajectory optimization and model predictive control
C. Nguyen, L. Bao, and Q. Nguyen · 2022
Cited alongside, same era.
N. Yokoyama, A. W. Clegg, E. Undersander, S. Ha, D. Batra, and A. Rai · 2023
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Bayesian multi-task learning mpc for robotic mobile manipulation
E. Arcari, M. V. Minniti, A. Scampicchio, A. Carron, F. Farshidian, M. Hutter, and M. N. Zeilinger · 2023
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Roloma: Robust loco-manipulation for quadruped robots with arms
H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, and S. Vijayakumar · 2023
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Versatile multicontact planning and control for legged loco-manipulation
J.-P. Sleiman, F. Farshidian, and M. Hutter · 2023
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Learning whole-body manipulation for quadrupedal robot
S. Jeon, M. Jung, S. Choi, B. Kim, and J. Hwangbo · 2023
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Td-mpc2: Scalable, robust world models for continuous control, 2023
N. Hansen, H. Su, and X. Wang · 2023
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Mastering diverse domains through world models, 2023
D. Hafner, J. Pasukonis, J. Ba, and T. Lillicrap · 2023
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Drm: Mastering visual reinforcement learning through dormant ratio minimization, 2023
G. Xu, R. Zheng, Y. Liang, X. Wang, Z. Yuan, T. Ji, Y. Luo, X. Liu, J. Yuan, P. Hua, S. Li, Y. Ze, H. D. I. au2, F. Huang, and H. Xu · 2023
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Towards real-time robotics perception with continual adaptation
R. Qiu · 2023
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A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, et al · 2023
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Cascaded compositional residual learning for complex interactive behaviors
K. N. Kumar, I. Essa, and S. Ha · 2023
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Neural volumetric memory for visual locomotion control
R. Yang, G. Yang, and X. Wang · 2023
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
G. B. Margolis and P. Agrawal · 2023
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Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors
Y. Fuchioka, Z. Xie, and M. Van de Panne · 2023
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Generalized animal imitator: Agile locomotion with versatile motion prior
R. Yang, Z. Chen, J. Ma, C. Zheng, Y. Chen, Q. Nguyen, and X. Wang · 2023
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Amp in the wild: Learning robust, agile, natural legged locomotion skills
Y. Wang, Z. Jiang, and J. Chen · 2023
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Learning agile skills via adversarial imitation of rough partial demonstrations
C. Li, M. Vlastelica, S. Blaes, J. Frey, F. Grimminger, and G. Martius · 2023
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Words into action: Learning diverse humanoid robot behaviors using language guided iterative motion refinement, 2023
K. N. Kumar, I. Essa, and S. Ha · 2023
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Multi-skill mobile manipulation for object rearrangement
J. Gu, D. S. Chaplot, H. Su, and J. Malik · 2023
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Asc: Adaptive skill coordination for robotic mobile manipulation, 2023
N. Yokoyama, A. Clegg, J. Truong, E. Undersander, T.-Y. Yang, S. Arnaud, S. Ha, D. Batra, and A. Rai · 2023
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R. Yang, Y. Kim, A. Kembhavi, X. Wang, and K. Ehsani · 2023
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N. M. M. Shafiullah, A. Rai, H. Etukuru, Y. Liu, I. Misra, S. Chintala, and L. Pinto · 2023
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Legs as manipulator: Pushing quadrupedal agility beyond locomotion
X. Cheng, A. Kumar, and D. Pathak · 2023
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
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