Learning Unified Force and Position Control for Legged Loco-Manipulation

Learning Unified Force and Position Control for Legged Loco-Manipulation

27 May 2025

Papers citing "Learning Unified Force and Position Control for Legged Loco-Manipulation"

9 / 9 papers shown

Title
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 57 2 0 11 Nov 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 116 197 0 19 Mar 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 71 65 0 31 Jan 2024
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot Haoshu Fang Hongjie Fang Zhenyu Tang Jirong Liu Chenxi Wang Junbo Wang Haoyi Zhu Cewu Lu 68 65 0 02 Jul 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 211 1,112 0 07 Mar 2023
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 57 150 0 18 Oct 2022
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators Mattia Risiglione Victor Barasuol D. Caldwell Claudio Semini 21 7 0 01 Aug 2022
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators Yuntao Ma Farbod Farshidian Takahiro Miki Joonho Lee Marco Hutter 57 72 0 11 Jan 2022
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 208 18,685 0 20 Jul 2017