Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion

20 March 2023

Papers citing "Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion"

41 / 41 papers shown

Title
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dongjie Zhu Zhuo Yang Tianhang Wu Luzhou Ge X. Li Qi Liu Xuzhao Li 29 0 0 21 Apr 2025
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 30 1 0 09 Apr 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 67 5 0 07 Mar 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation Yuanchen Yuan Jin Cheng Núria Armengol Urpí Stelian Coros 71 1 0 02 Feb 2025
Nature's All-in-One: Multitasking Robots Inspired by Dung Beetles Binggwong Leung Stanislav Gorb Poramate Manoonpong 33 0 0 05 Nov 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu K. Sreenath Saurabh Gupta Xue Bin Peng 63 17 0 15 Oct 2024
Dynamic Object Catching with Quadruped Robot Front Legs André Schakkal Guillaume Bellegarda A. Ijspeert 26 1 0 10 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 30 8 0 30 Sep 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 49 2 0 30 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 47 3 0 24 Sep 2024
PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots Shixin Luo Songbo Li Ruiqi Yu Zhicheng Wang Jun Wu Qiuguo Zhu 28 11 0 25 Aug 2024
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers Huy Ha Yihuai Gao Zipeng Fu Jie Tan Shuran Song 34 37 0 14 Jul 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 K. Sreenath 40 3 0 09 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 29 3 0 05 Jul 2024
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope Haodi Hu Feifei Qian Daniel Seita 54 2 0 02 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 61 96 0 01 Jul 2024
Adaptive Manipulation using Behavior Trees Jacques Cloete W. Merkt Ioannis Havoutis 26 0 0 20 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 47 16 0 03 Jun 2024
Learning H-Infinity Locomotion Control Junfeng Long Wenye Yu Quanyi Li Zirui Wang Dahua Lin Jiangmiao Pang 32 7 0 22 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 36 1 0 12 Apr 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models Yutao Ouyang Jinhan Li Yunfei Li Zhongyu Li Chao Yu K. Sreenath Yi Wu 49 15 0 08 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze K. Sreenath Zhongyu Li Huazhe Xu 65 12 0 29 Mar 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li K. Sreenath M. Tomizuka 71 3 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 44 12 0 27 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu K. Sreenath 39 14 0 26 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 53 46 0 25 Mar 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 52 90 0 26 Feb 2024
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg Philip Arm Mayank Mittal H. Kolvenbach Marco Hutter 23 27 0 16 Feb 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth K. Sreenath 25 76 0 30 Jan 2024
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 63 26 0 18 Dec 2023
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation Yufei Wang Zhou Xian Feng Chen Tsun-Hsuan Wang Yian Wang Katerina Fragkiadaki Zackory M. Erickson David Held Chuang Gan LM&Ro 41 98 0 02 Nov 2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC Lydia Y. Chen Quan Nguyen 18 9 0 13 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 16 7 0 07 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Qing Guo 37 17 0 02 Oct 2023
Extreme Parkour with Legged Robots Xuxin Cheng Kexin Shi Ananye Agarwal Deepak Pathak 28 148 0 25 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 45 142 0 11 Sep 2023
Learning Whole-body Manipulation for Quadrupedal Robot S. Jeon Moonkyu Jung Suyoung Choi Beomjoon Kim Jemin Hwangbo 18 28 0 31 Aug 2023
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion Yunho Kim H. Oh J. Lee Jinhyeok Choi Gwanghyeon Ji Moonkyu Jung D. Youm Jemin Hwangbo 19 42 0 24 Aug 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 39 140 0 26 Apr 2023
Adapting Rapid Motor Adaptation for Bipedal Robots Ashish Kumar Zhongyu Li Jun Zeng Deepak Pathak K. Sreenath Jitendra Malik 52 63 0 30 May 2022
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 545 0 24 Sep 2021