3 papers
cs.RO2025
Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator
Haichao Zhang, Haonan Yu, Le Zhao +4
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After…
cs.AI2025
Policy Expansion for Bridging Offline-to-Online Reinforcement Learning
Haichao Zhang, We Xu, Haonan Yu
Pre-training with offline data and online fine-tuning using reinforcement learning is a promising strategy for learning control policies by leveraging the best of both worlds in te…
cs.RO2025
SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learning
Haichao Zhang, Haonan Yu, Le Zhao +4
We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possi…