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2201.03871
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Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators
IEEE Robotics and Automation Letters (RA-L), 2022
11 January 2022
Yuntao Ma
Farbod Farshidian
Takahiro Miki
Joonho Lee
Marco Hutter
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Papers citing
"Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators"
50 / 60 papers shown
FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
Chengyang He
Ge Sun
Yue Bai
Junkai Lu
Jiadong Zhao
Guillaume Sartoretti
204
1
0
04 Dec 2025
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
Zong Chen
S. Li
Ben Liu
Min Li
Zhouping Yin
Yiqun Li
134
0
0
17 Sep 2025
Leg-Arm Coordinated Operation for Curtain Wall Installation
Xiao Liu
Weijun Wang
Tianlun Huang
Zhiyong Wang
Wei Feng
116
0
0
16 Sep 2025
Collaborative Loco-Manipulation for Pick-and-Place Tasks with Dynamic Reward Curriculum
Tianxu An
Flavio De Vincenti
Yuntao Ma
Marco Hutter
Stelian Coros
225
3
0
16 Sep 2025
Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Haichao Zhang
Haonan Yu
Le Zhao
Andrew Choi
Qinxun Bai
Yiqing Yang
Wei Xu
263
2
0
04 Sep 2025
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Xin Liu
Bida Ma
Chenkun Qi
Yan Ding
Zhaxizhuoma
...
Feng Gao
Jiangwei Zhong
Jiangwei Zhong
Xuelong Li
Xuelong Li
224
4
0
14 Aug 2025
Whole-Body Coordination for Dynamic Object Grasping with Legged Manipulators
Qiwei Liang
Boyang Cai
Rongyi He
Hui Li
Tao Teng
Haihan Duan
Changxin Huang
Runhao Zeng
170
1
0
10 Aug 2025
MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objects
Yuying Zhang
K. Luck
Francesco Verdoja
Ville Kyrki
Joni Pajarinen
224
0
0
29 Jul 2025
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus
Kapi Ketan Mehta
Ali MirMohammad Sadeghi
Basit Muhammad Imran
Jeeseop Kim
Taizoon Chunawala
Vittorio Pastore
Sujith Vijayan
K. Hamed
169
0
0
29 Jul 2025
Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
Yuyou Zhang
Radu Corcodel
Ding Zhao
155
1
0
27 Jul 2025
Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan
Andrei Cramariuc
Mattia Risiglione
Christian Gehring
Marco Hutter
213
2
0
11 Jul 2025
Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration
Yuntao Ma
Yang Liu
Kaixian Qu
Marco Hutter
330
5
0
20 Jun 2025
Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems
Minji Kang
Chanwoo Baek
Yoonsang Lee
455
0
0
11 Jun 2025
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu
Yuxin Chen
Lingfeng Sun
Farzad Niroui
Simon Le Cleac'h
Jiuguang Wang
Kuan Fang
379
6
0
09 Jun 2025
Learning coordinated badminton skills for legged manipulators
Yuntao Ma
Andrei Cramariuc
Farbod Farshidian
Marco Hutter
358
34
0
29 May 2025
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
Peiyuan Zhi
Peiyang Li
Jianqin Yin
Baoxiong Jia
Siyuan Huang
427
1
0
27 May 2025
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
Geeta Chandra Raju Bethala
Niraj Pudasaini
Niraj Pudasaini
Abdullah Mohamed Ali
Shuaihang Yuan
Congcong Wen
Anthony Tzes
Yi Fang
338
3
0
23 May 2025
Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
IEEE International Conference on Robotics and Automation (ICRA), 2025
Jian Shu
Zhiwei Shi
Chengxi Zhu
Yafei Qiao
Cheng Zhang
Fan Yang
Pengjie Ren
Lan Lu
D. Xuan
573
6
0
24 Apr 2025
Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation
Yu Hao
Geeta Chandra Raju Bethala
Niraj Pudasaini
Niraj Pudasaini
Shuaihang Yuan
...
Baoru Huang
A. Nguyen
Anthony Tzes
Yi Fang
Yi Fang
LM&Ro
AI4CE
LRM
435
3
0
13 Apr 2025
Inverse RL Scene Dynamics Learning for Nonlinear Predictive Control in Autonomous Vehicles
IEEE Transactions on Neural Networks and Learning Systems (IEEE TNNLS), 2025
Sorin Grigorescu
Mihai V. Zaha
AI4CE
316
1
0
02 Apr 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
Nolan Fey
G. Margolis
Martin Peticco
Pulkit Agrawal
327
15
0
15 Feb 2025
Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions
Ziwen Zhuang
Hang Zhao
367
13
0
03 Feb 2025
Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration
IEEE robotics & automation magazine (IEEE RAM), 2024
Junjia Liu
Hao Sun
Minghao Yu
Zhipeng Dong
Sylvain Calinon
Darwin G. Caldwell
Fei Chen
280
8
0
19 Dec 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2024
Sixu Yan
Zeyu Zhang
Muzhi Han
Zaijin Wang
Qi Xie
Zhitian Li
Zhehan Li
Hangxin Liu
Xinggang Wang
Song-Chun Zhu
416
35
0
15 Oct 2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Yajvan Ravan
Zhutian Yang
Tao Chen
Tomás Lozano-Pérez
Leslie Pack Kaelbling
300
7
0
09 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
Qi Wu
Zipeng Fu
Xuxin Cheng
Xiaolong Wang
Chelsea Finn
LM&Ro
303
15
0
30 Sep 2024
Continuously Improving Mobile Manipulation with Autonomous Real-World RL
Conference on Robot Learning (CoRL), 2024
Russell Mendonca
Emmanuel Panov
Bernadette Bucher
Jiuguang Wang
Deepak Pathak
OffRL
293
25
0
30 Sep 2024
Whole-body End-Effector Pose Tracking
IEEE International Conference on Robotics and Automation (ICRA), 2024
Tifanny Portela
Andrei Cramariuc
Mayank Mittal
Marco Hutter
470
16
0
24 Sep 2024
Learning to Open and Traverse Doors with a Legged Manipulator
Conference on Robot Learning (CoRL), 2024
Mike Zhang
Yuntao Ma
Takahiro Miki
Marco Hutter
300
25
0
07 Sep 2024
Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Jin Wang
Arturo Laurenzi
Nikos Tsagarakis
LM&Ro
217
13
0
15 Aug 2024
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Haodi Hu
Feifei Qian
Daniel Seita
316
4
0
02 Jul 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
Jin Wang
Rui Dai
Weijie Wang
Luca Rossini
Francesco Ruscelli
Nikos Tsagarakis
264
13
0
20 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
Conference on Robot Learning (CoRL), 2024
Chong Zhang
Wenli Xiao
Tairan He
Guanya Shi
375
100
0
10 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha
Joonho Lee
M. van de Panne
Zhaoming Xie
Wenhao Yu
Majid Khadiv
371
44
0
03 Jun 2024
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Lingfan Bao
Josephine N. Humphreys
Tianhu Peng
Chengxu Zhou
653
11
0
25 Apr 2024
Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu
Zixuan Chen
Xuxin Cheng
Yandong Ji
Ri-Zhao Qiu
Ruihan Yang
Xiaolong Wang
348
99
0
25 Mar 2024
Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot
Zifan Wang
Ruixiang Wang
Lu Shi
Haoyu Wang
Haizhou Zhao
Xueyang Li
Jinni Zhou
Jun Ma
Longhua Ma
382
22
0
25 Mar 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
Conference on Robot Learning (CoRL), 2024
Aadhithya Iyer
Zhuoran Peng
Yinlong Dai
Irmak Güzey
Siddhant Haldar
Soumith Chintala
Lerrel Pinto
296
128
0
12 Mar 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Zipeng Fu
Tony Zhao
Chelsea Finn
504
600
0
04 Jan 2024
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
IEEE International Conference on Robotics and Automation (ICRA), 2023
Alberto Rigo
Muqun Hu
Satyandra K. Gupta
Quan Nguyen
403
15
0
31 Oct 2023
Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning
Scientific Reports (Sci Rep), 2023
Sicen Li
Yiming Pang
Panju Bai
Zhaojin Liu
Jiawei Li
Shihao Hu
Liquan Wang
Gang Wang
347
16
0
24 Oct 2023
Sim-to-Real Learning for Humanoid Box Loco-Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jeremy Dao
Helei Duan
Alan Fern
289
62
0
04 Oct 2023
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Ioannis Dadiotis
Arturo Laurenzi
Nikos Tsagarakis
334
12
0
04 Oct 2023
Robot Parkour Learning
Conference on Robot Learning (CoRL), 2023
Ziwen Zhuang
Zipeng Fu
Jianren Wang
Christopher G Atkeson
Soeren Schwertfeger
Chelsea Finn
Hang Zhao
556
264
0
11 Sep 2023
Learning Whole-body Manipulation for Quadrupedal Robot
IEEE Robotics and Automation Letters (RA-L), 2023
S. Jeon
Moonkyu Jung
Suyoung Choi
Beomjoon Kim
Jemin Hwangbo
383
53
0
31 Aug 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Science Robotics (Sci. Robot.), 2023
Jean-Pierre Sleiman
Farbod Farshidian
Marco Hutter
169
83
0
17 Aug 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Science Robotics (Sci. Robot.), 2023
Philip Arm
Gabriel Waibel
Jan Preisig
Turcan Tuna
Ruyi Zhou
...
G. Ligeza
Takahiro Miki
F. Kehl
H. Kolvenbach
Marco Hutter
213
130
0
19 Jul 2023
DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Yanjiang Guo
Yen-Jen Wang
Lihan Zha
Zheyuan Jiang
Jianyu Chen
LM&Ro
514
69
0
01 Jul 2023
Decentralized Motor Skill Learning for Complex Robotic Systems
IEEE Robotics and Automation Letters (RA-L), 2023
Yanjiang Guo
Zheyuan Jiang
Yen-Jen Wang
Jingyue Gao
Jianyu Chen
161
9
0
30 Jun 2023
More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2023
Huang Huang
Antonio Loquercio
Ashish Kumar
Neerja Thakkar
Ken Goldberg
Jitendra Malik
247
2
0
02 May 2023
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