الملخص
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 maintaining balance. We present a unified whole-body controller trained with reinforcement learning that directly maps 6-DoF end-effector targets to coordinated actions for the bipedal base and robotic arm. Given only an end-effector target, the learned controller autonomously coordinates reaching, postural adaptation, and stepping without explicit base-velocity or footstep commands. A reward-gating strategy regulates the trade-offs among end-effector tracking, locomotion, and balance during training, while a temporal context estimator combines windowed Transformer encoding, recurrent GRU memory, and auxiliary dynamics prediction to extract dynamics-relevant information from observation history. Real-robot experiments demonstrate that the same controller supports reaching, postural adaptation, and stepping under commands from VR teleoperation, a learned diffusion policy, and scripted trajectories, providing a common end-effector interface for diverse manipulation tasks.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Chen, Z., Nai, Y., Chen, Q., Zhu, Y., Jing, C., Wang, Q., Li, X., Li, Z., Chang, L., Yang, L., & Chen, H. (2026). Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator. https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator
MLA 9
Chen, Zhongyu, et al. "Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator." https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator.
شيكاغو (المؤلف–التاريخ)
Chen, Zhongyu, Yuxuan Nai, Qian Chen, Yidong Zhu, Chen Jing, Qihan Wang, Xudong Li, Zhizhan Li, Leixin Chang, Liangjing Yang, and Hua Chen. 2026. "Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator." https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator.
هارفارد
Chen, Z., Nai, Y., Chen, Q., Zhu, Y., Jing, C., Wang, Q., Li, X., Li, Z., Chang, L., Yang, L. and Chen, H. (2026) 'Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator', Available at: https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator.
فانكوفر
Chen Z, Nai Y, Chen Q, Zhu Y, Jing C, Wang Q, et al. Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator. https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator
IEEE
Z. Chen, Y. Nai, Q. Chen, Y. Zhu, C. Jing, Q. Wang, X. Li, Z. Li, L. Chang, L. Yang, and H. Chen, "Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator," https://omanscience.com/ar/articles/learning-holistic-whole-body-loco-manipulation-with-a-bipedal-mobile-manipulator.