hierarchical control 1high-dimensional action space 1kinematic normalizing flow 1loco-manipulation 1quadruped robot 1whole-body control 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
The paper introduces a hierarchical whole-body control framework for quadrupedal robots with a 6‑DoF arm, using a Kinematic Normalizing Flow to generate partial reference motions a…
cs.RO2026
Learning Dynamic Pick-and-Place for a Legged Manipulator
Moonkyu Jung, Jiseong Lee, Zhengmao He +8
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while…