3 accepted papers
Generating large-scale demonstrations for dexterous manipulation remains a challenging problem, and various approaches have been proposed in recent years to address it. Among these, generative models have emerged as a promising paradigm, enabling the efficient generation of diverse and plausible dem…
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF arms. In this paper, we propose decoupling upper-body control
Animals have the ability to use their arms and legs for both locomotion and manipulation. We envision quadruped robots to have the same versatility. This work presents a system that empowers a quadruped robot to perform object interactions with its legs, drawing inspiration from non-prehensile manip…