Learning Visual Quadrupedal Loco-Manipulation from Demonstrations

Understand

Quadruped robots are progressively being integrated into human environments.

• Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited.
• While additional robotic arms on quadrupedal robots enable manipulating objects, they are sometimes redundant given that a quadruped robot is essentially a mobile unit equipped with four limbs, each possessing 3 degrees of freedom (DoFs).
• Hence, we aim to empower a quadruped robot to execute real-world manipulation tasks using only its legs.