Preprint
Sep 2026
Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator
Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintain...
Zhong-Yue Chen, Yuxuan Nai, Qian Chen et al.
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