Junde Guo

Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking With a Wheeled-Quadrupedal-Manipulator

In this paper, we study the whole-body loco-manipulation problem using reinforcement learning (RL). Specifically, we focus on the problem of how to coordinate the floating base and the robotic arm of a wheeled-quadrupedal manipulator robot to achieve direct six-dimensional (6D) end-effector (EE) pos