Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Science Robotics (Sci. Robot.), 2023

17 August 2023

Jean-Pierre Sleiman

Farbod Farshidian

Marco Hutter

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Papers citing "Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation"

48 / 48 papers shown

Title
Whole-Body Inverse Dynamics MPC for Legged Loco-ManipulationIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Lukas Molnar Jin Cheng Gabriele Fadini Dongho Kang Fatemeh Zargarbashi Stelian Coros 44 0 0 24 Nov 2025
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion Ziyi Zhou Qian Meng H. Kress-Gazit Ye Zhao 100 1 0 27 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 104 0 0 16 Sep 2025
Learning Multi-Stage Pick-and-Place with a Legged Mobile ManipulatorIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Haichao Zhang Haonan Yu Le Zhao Andrew Choi Qinxun Bai Yiqing Yang Wei Xu 136 0 0 04 Sep 2025
Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation PlanningIEEE Transactions on robotics (IEEE TRO), 2025 Ziyuan Jiao Yida Niu Zeyu Zhang Yangyang Wu Yao Su Y. Zhu Hangxin Liu Song-Chun Zhu 74 0 0 26 Aug 2025
Task and Motion Planning for Humanoid Loco-manipulation Michal Ciebielski Victor Dhédin Majid Khadiv 68 0 0 16 Aug 2025
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with ArmIEEE 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 88 1 0 14 Aug 2025
MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion Qi Liu Xiaopeng Zhang Mingshan Tan Shuaikang Ma Jinliang Ding Yanjie Li 64 1 0 14 Aug 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 109 0 0 29 Jul 2025
Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning Yuyou Zhang Radu Corcodel Ding Zhao 93 0 0 27 Jul 2025
RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation Mattia Risiglione Abdelrahman Abdalla Victor Barasuol Kim Tien Ly Ioannis Havoutis Claudio Semini 68 0 0 25 Jul 2025
Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems Minji Kang Chanwoo Baek Yoonsang Lee 296 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 207 4 0 09 Jun 2025
Humanoid Loco-manipulation Planning based on Graph Search and Reachability MapsIEEE Robotics and Automation Letters (RA-L), 2021 Masaki Murooka Iori Kumagai Mitsuharu Morisawa F. Kanehiro A. Kheddar 120 36 0 29 May 2025
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang-Yang Li 242 1 0 08 May 2025
Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models Ilyass Taouil Haizhou Zhao Angela Dai Majid Khadiv DiffM 231 1 0 23 Apr 2025
RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-ManipulationIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 306 3 0 09 Apr 2025
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex RelaxationsIEEE International Conference on Robotics and Automation (ICRA), 2025 Yuki Shirai A. Raghunathan Devesh K. Jha 226 3 0 11 Mar 2025
FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations Yuan Zhou Shuhang Ji Yuze Wu Tianyue Wu Xiaoying Li Chao Xu 265 0 0 02 Mar 2025
Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learningIEEE International Conference on Robotics and Automation (ICRA), 2025 Ioannis Dadiotis Mayank Mittal Nikos Tsagarakis Marco Hutter 210 10 0 03 Feb 2025
Whole-Body Integrated Motion Planning for Aerial Manipulators Weiliang Deng Hongming Chen Biyu Ye Haoran Chen Ximin Lyu X. Lyu 205 4 0 11 Jan 2025
Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from DemonstrationIEEE robotics & automation magazine (IEEE RAM), 2024 Junjia Liu Hao Sun Minghao Yu Zhipeng Dong Sylvain Calinon Darwin G. Caldwell Fei Chen 218 5 0 19 Dec 2024
VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding Chenyu Yang Davide Liconti Robert K. Katzschmann 324 4 0 05 Nov 2024
Nature's All-in-One: Multitasking Robots Inspired by Dung BeetlesAdvancement of science (Adv. Sci.), 2024 Binggwong Leung Stanislav Gorb Poramate Manoonpong 148 4 0 05 Nov 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-ManipulationConference on Robot Learning (CoRL), 2024 Jean-Pierre Sleiman Mayank Mittal Marco Hutter 144 12 0 17 Oct 2024
Visual Manipulation with LegsConference on Robot Learning (CoRL), 2024 Xialin He Chengjing Yuan Wenxuan Zhou Ruihan Yang David Held Xiaolong Wang 211 7 0 15 Oct 2024
Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic OptimizationIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 Carlos Gonzalez Luis Sentis 186 0 0 10 Oct 2024
Dynamic Object Catching with Quadruped Robot Front LegsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 André Schakkal Guillaume Bellegarda A. Ijspeert 254 2 0 10 Oct 2024
Learning to Open and Traverse Doors with a Legged ManipulatorConference on Robot Learning (CoRL), 2024 Mike Zhang Yuntao Ma Takahiro Miki Marco Hutter 160 21 0 07 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic ManipulationConference on Robot Learning (CoRL), 2024 Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 319 241 0 03 Sep 2024
Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language ModelIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Jin Wang Arturo Laurenzi Nikos Tsagarakis LM&Ro 141 11 0 15 Aug 2024
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation Xiaoyu Huang Qiayuan Liao Yiming Ni Zhongyu Li Laura Smith Sergey Levine Xue Bin Peng Koushil Sreenath 179 7 0 09 Jul 2024
Dynamic Planning for Sequential Whole-body Mobile Manipulation Zhitian Li Yida Niu Yao Su Hangxin Liu Ziyuan Jiao 159 3 0 24 May 2024
Learning Force Control for Legged ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 226 37 0 02 May 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning ApproachesIEEE/ASME transactions on mechatronics (TAM), 2024 Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 415 43 0 03 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze Koushil Sreenath Zhongyu Li Huazhe Xu 178 27 0 29 Mar 2024
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators Changyi Lin Xingyu Liu Yuxiang Yang Yaru Niu Wenhao Yu Tingnan Zhang Jie Tan Byron Boots Ding Zhao 215 19 0 27 Mar 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 256 85 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 307 19 0 25 Mar 2024
Opening Articulated Structures in the Real World Arjun Gupta Michelle Zhang Rishik Sathua Saurabh Gupta 259 1 0 27 Feb 2024
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg Philip Arm Mayank Mittal H. Kolvenbach Marco Hutter 121 50 0 16 Feb 2024
Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation Peijia Xie Bingyi Xia Anjun Hu Ziqi Zhao Lingxiao Meng Zhi-Qiang Sun Xuheng Gao Jiankun Wang Max Meng 129 15 0 16 Jan 2024
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2023 Jaemin Lee Jeeseop Kim Wyatt Ubellacker Tamás G. Molnár Aaron D. Ames 168 4 0 12 Dec 2023
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid TraversalIEEE International Conference on Robotics and Automation (ICRA), 2023 M. Asselmeier Jane Ivanova Ziyi Zhou Patricio A. Vela Ye Zhao 227 5 0 14 Nov 2023
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy ObjectsIEEE International Conference on Robotics and Automation (ICRA), 2023 Alberto Rigo Muqun Hu Satyandra K. Gupta Quan Nguyen 182 12 0 31 Oct 2023
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile ManipulatorsIEEE International Conference on Robotics and Automation (ICRA), 2023 Kim Tien Ly Valeriy Semenov Mattia Risiglione W. Merkt Ioannis Havoutis 175 5 0 04 Oct 2023
ViPlanner: Visual Semantic Imperative Learning for Local NavigationIEEE International Conference on Robotics and Automation (ICRA), 2023 Pascal Roth Julian Nubert Fan Yang Mayank Mittal Marco Hutter 267 56 0 02 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion PriorConference on Robot Learning (CoRL), 2023 Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Xinze Wang 263 21 0 02 Oct 2023