A hierarchical controller using a kinematic normalizing flow for partial inverse-kinematics redundancy plus low-level imitation yields 4.5 cm / 0.14 rad end-effector tracking while walking on a real quadruped-arm platform.
Multi- expert learning of adaptive legged locomotion,
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PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
A hierarchical controller using a kinematic normalizing flow for partial inverse-kinematics redundancy plus low-level imitation yields 4.5 cm / 0.14 rad end-effector tracking while walking on a real quadruped-arm platform.