3 papers
cs.RO2026
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4
Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physical interaction with grasped objects under uncertain external forces.…
cs.RO2025
PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
Muqun Hu, Wenxi Chen, Wenjing Li +9
Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under strict timing--capabilities that remain difficult for end-to-end control…
cs.RO2023
Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects
Alberto Rigo, Muqun Hu, Satyandra K. Gupta +1
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However,…