HCLM presents a hierarchical architecture that uses an SE(3)-invariant diffusion policy for coordination and a hybrid whole-body controller with MPC and admittance control for safe closed-chain loco-manipulation on dual quadrupeds.
Roboduet: Learning a cooperative policy for whole-body legged loco-manipulation,
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
fields
cs.RO 2verdicts
UNVERDICTED 2representative citing papers
A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.
citing papers explorer
-
HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds
HCLM presents a hierarchical architecture that uses an SE(3)-invariant diffusion policy for coordination and a hybrid whole-body controller with MPC and admittance control for safe closed-chain loco-manipulation on dual quadrupeds.
-
Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
A single goal-conditioned RL policy trained on contact plans performs multiple gaits and bimanual manipulation tasks on quadruped and humanoid robots.