SigLoMa enables dynamic loco-manipulation on quadrupeds from ego-centric 5 Hz vision alone by using Sigma Points for scalable exteroception, an ego-centric Kalman Filter for high-rate state estimation, and an active sampling curriculum, matching expert human teleoperation performance.
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SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision
SigLoMa enables dynamic loco-manipulation on quadrupeds from ego-centric 5 Hz vision alone by using Sigma Points for scalable exteroception, an ego-centric Kalman Filter for high-rate state estimation, and an active sampling curriculum, matching expert human teleoperation performance.