Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems

Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks such as pressing buttons or opening doors. While these efforts demonstrate the feasibility of leg-based manipulation, most have focused on relatively static tasks. In this work, we propose a framework that enables quadruped robots to collect objects without additional actuators by leveraging the agility of their legs. By attaching a simple scoop-like add-on to one leg, the robot can scoop objects and toss them into a collection tray mounted on its back. Our method employs a hierarchical policy structure comprising two expert policies-one for scooping and tossing, and one for approaching object positions-and a meta-policy that dynamically switches between them. The expert policies are trained separately, followed by meta-policy training for coordinated multi-object collection. This approach demonstrates how quadruped legs can be effectively utilized for dynamic object manipulation, expanding their role beyond locomotion.

@article{kang2025_2506.09406,
  title={ Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems },
  author={ Minji Kang and Chanwoo Baek and Yoonsang Lee },
  journal={arXiv preprint arXiv:2506.09406},
  year={ 2025 }
}