RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
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arXiv
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| Auteurs principaux: | , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929702866780160 |
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| author | Pan, Guoping Ben, Qingwei Yuan, Zhecheng Jiang, Guangqi Ji, Yandong Li, Shoujie Pang, Jiangmiao Liu, Houde Xu, Huazhe |
| author_facet | Pan, Guoping Ben, Qingwei Yuan, Zhecheng Jiang, Guangqi Ji, Yandong Li, Shoujie Pang, Jiangmiao Liu, Houde Xu, Huazhe |
| contents | Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports zero-shot transfer across quadruped robots with similar morphology and physical dimensions in the real world. Our experiments demonstrate that RoboDuet achieves a 23% improvement in success rate over the baseline in challenging loco-manipulation tasks employing whole-body control. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17367 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation Pan, Guoping Ben, Qingwei Yuan, Zhecheng Jiang, Guangqi Ji, Yandong Li, Shoujie Pang, Jiangmiao Liu, Houde Xu, Huazhe Robotics Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports zero-shot transfer across quadruped robots with similar morphology and physical dimensions in the real world. Our experiments demonstrate that RoboDuet achieves a 23% improvement in success rate over the baseline in challenging loco-manipulation tasks employing whole-body control. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io. |
| title | RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.17367 |