{"paper":{"title":"Learning Dynamic Pick-and-Place for a Legged Manipulator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Donghoon Youm, Donghyuk Choi, HyeongJun Kim, Hyunsik Oh, Jemin Hwangbo, Jie Song, Jiseong Lee, Juhyeok Mun, Jungwoo Hur, Moonkyu Jung, Zhengmao He","submitted_at":"2026-05-15T08:04:07Z","abstract_excerpt":"Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major challenge. This work presents a hierarchical reinforcement learning framework for dynamic pick-and-place tasks using a quadruped equipped with a 6-DOF robotic arm. The framework incorporates an explicit mass estimation module enabling adaptive whole-body control for objects with varying weights. In simulation, the system achieves an 86.05% success rate with payloads"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15713","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.15713/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T19:33:26.973579Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:21:56.018060Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"847b1cc9bf0fa3400d9d17518170fd105cb25bb977185022537b01855d88caa1"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}