A multi-critic and twist-based RL controller achieves accurate whole-body loco-manipulation on a quadruped with an arm, outperforming pose-based baselines and MPC in tracking error.
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Multi-critic Learning for Whole-body End-effector Twist Tracking
A multi-critic and twist-based RL controller achieves accurate whole-body loco-manipulation on a quadruped with an arm, outperforming pose-based baselines and MPC in tracking error.