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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.09221 |
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| _version_ | 1866912640878510080 |
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| author | Sun, Jingyuan Wang, Chaoran Zhang, Mingyu Miao, Cui Ji, Hongyu Qu, Zihan Sun, Han Wang, Bing Si, Qingyi |
| author_facet | Sun, Jingyuan Wang, Chaoran Zhang, Mingyu Miao, Cui Ji, Hongyu Qu, Zihan Sun, Han Wang, Bing Si, Qingyi |
| contents | Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation), a two-layer framework designed for legged robots equipped with manipulators to perform human-centered mobile manipulation tasks. The first layer utilizes a goal-conditioned autonomous exploration policy to guide the robot to semantically specified targets, such as a black office chair in a dynamic environment. The second layer employs a unified whole-body loco-manipulation policy to coordinate the arm and legs for precise interaction tasks-for example, handing a drink to a person seated on the chair. We have conducted an initial deployment of the navigation module, and will continue to pursue finer-grained deployment of whole-body loco-manipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_09221 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation Sun, Jingyuan Wang, Chaoran Zhang, Mingyu Miao, Cui Ji, Hongyu Qu, Zihan Sun, Han Wang, Bing Si, Qingyi Robotics Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation), a two-layer framework designed for legged robots equipped with manipulators to perform human-centered mobile manipulation tasks. The first layer utilizes a goal-conditioned autonomous exploration policy to guide the robot to semantically specified targets, such as a black office chair in a dynamic environment. The second layer employs a unified whole-body loco-manipulation policy to coordinate the arm and legs for precise interaction tasks-for example, handing a drink to a person seated on the chair. We have conducted an initial deployment of the navigation module, and will continue to pursue finer-grained deployment of whole-body loco-manipulation. |
| title | HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.09221 |