A reward fusion module that nonlinearly gates, sharpens, and schedules reward terms enables a wheeled quadrupedal manipulator to track 6D end-effector poses with under 5 cm and 0.1 rad error.
ANYmal parkour: Learning agile navigation for quadrupedal robots,
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Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
A reward fusion module that nonlinearly gates, sharpens, and schedules reward terms enables a wheeled quadrupedal manipulator to track 6D end-effector poses with under 5 cm and 0.1 rad error.