3 papers
cs.RO2026
SMaRT-Tug: Structured Multi-Agent Reinforcement Learning for Physics-Based Tugboat-Barge Collaborative Manipulation
Junkai Lu, Jiadong Zhao, Jiacheng Zhang +8
Autonomous tugboating is central for automating maritime operations such as port logistics and vessel maneuvering, where multiple tugboats must cooperatively transport/manipulate a…
cs.RO2025
FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
Chengyang He, Ge Sun, Yue Bai +3
We present FoundAtion-model-guided decoupled LoCO-maNipulation visuomotor policies (FALCON), a framework for loco-manipulation that combines modular diffusion policies with a visio…
cs.RO2025
HeLoM: Hierarchical Learning for Whole-Body Loco-Manipulation by a Hexapod Robot
Xinrong Yang, Peizhuo Li, Hongyi Li +8
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward a…