3 papers
cs.RO2026
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
cs.RO2025
SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu +3
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently…
cs.RO2025
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…