Preprint Open access
Force-Aware Reinforcement Learning with Hybrid Sensorless Force Estimation for Wheeled-Legged Loco-Manipulation
Force-controlled loco-manipulation requires a whole-body policy to coordinate locomotion and arm motion while regulating end-effector interaction forces. This is challenging under floating-base dynamics and changing support contacts, particularly when end-effector force/torque sensing is unavailable for control. This p …