A hierarchical RL framework with an explicit mass estimation module enables dynamic concurrent locomotion and manipulation on a quadruped with arm, achieving 86% success in simulation up to 2.3 kg and 73% in real tests up to 1.3 kg across varied heights and object properties.
Asymmetric actor critic for image-based robot learning,
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Learning Dynamic Pick-and-Place for a Legged Manipulator
A hierarchical RL framework with an explicit mass estimation module enables dynamic concurrent locomotion and manipulation on a quadruped with arm, achieving 86% success in simulation up to 2.3 kg and 73% in real tests up to 1.3 kg across varied heights and object properties.