GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots

Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2

Most modern approaches to quadruped locomotion focus on using Deep Reinforcement Learning (DRL) to learn policies from scratch, in an end-to-end manner. Such methods often fail to…