mlsanityData to 7 Oct 2026

Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators

arXiv 2201.03871 ↗First posted 11 Jan 2022cs.ROcited by 32

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Abstract (arXiv)

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of manipulators. Here, we incorporate external dynamics plans into learning-based locomotion policies for mobile manipulation. We train the base policy by applying a random wrench sequence on the robot base in simulation and adding the noisified wrench sequence prediction to the policy observations. The policy then learns to counteract the partially-known future disturbance. The random wrench sequences are replaced with the wrench prediction generated with the dynamics plans from model predictive control to enable deployment. We show zero-shot adaptation for manipulators unseen during training. On the hardware, we demonstrate stable locomotion of legged robots with the prediction of the external wrench.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Jan 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 4; 2024: 15; 2025: 9; 2026: 2.

32 papers.

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  1. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  2. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  3. 2023Robot Parkour Learningcited by 115
  4. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 98
  5. 2023DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignmentcited by 58
  6. 2024Visual Whole-Body Control for Legged Loco-Manipulationcited by 58
  7. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  8. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 41
  9. 2023DribbleBot: Dynamic Legged Manipulation in the Wildcited by 33
  10. 2024M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenescited by 26
  11. 2024Continuously Improving Mobile Manipulation with Autonomous Real-World RLcited by 20
  12. 2025Learning coordinated badminton skills for legged manipulatorscited by 16
20 more
  1. 2024Learning to Open and Traverse Doors with a Legged Manipulatorcited by 14
  2. 2025Bridging the Sim-to-Real Gap for Athletic Loco-Manipulationcited by 11
  3. 2024Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Modelcited by 8
  4. 2024Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Modelscited by 8
  5. 2024HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulationcited by 7
  6. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  7. 2024Whole-body End-Effector Pose Trackingcited by 5
  8. 2024Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulatorcited by 5
  9. 2025SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learningcited by 4
  10. 2024Combining Planning and Diffusion for Mobility with Unknown Dynamicscited by 3
  11. 2025FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordinationcited by 3
  12. 2023Decentralized Motor Skill Learning for Complex Robotic Systemscited by 2
  13. 2025Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Controlcited by 2
  14. 2024Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstrationcited by 1
  15. 2025Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learningcited by 1
  16. 2025MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objectscited by 1
  17. 2026CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projectioncited by 1
  18. 2025Inverse RL Scene Dynamics Learning for Nonlinear Predictive Control in Autonomous Vehiclescited by 0
  19. 2025Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systemscited by 0
  20. 2026Learning Dynamic Pick-and-Place for a Legged Manipulatorcited by 0