mlsanityData to 7 Oct 2026

DribbleBot: Dynamic Legged Manipulation in the Wild

arXiv 2304.01159 ↗First posted 3 Apr 2023cs.RO cs.AI cs.LGcited by 33

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Abstract (arXiv)

DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in simulation using reinforcement learning and transferring them into the real world. We overcome critical challenges of accounting for variable ball motion dynamics on different terrains and perceiving the ball using body-mounted cameras under the constraints of onboard computing. Our results provide evidence that current quadruped platforms are well-suited for studying dynamic whole-body control problems involving simultaneous locomotion and manipulation directly from sensory observations.

Key facts. Cited by 33 papers in the map (data through 7 Oct 2026). Builds on 40 of its 51 references that are in the map. First posted on arXiv 3 Apr 2023.

Builds on

40 of 51 references.

References · 40

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28 more
  1. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 277
  2. 2021A System for General In-Hand Object Re-Orientationcited by 155
  3. 2019TossingBot: Learning to Throw Arbitrary Objects with Residual Physicscited by 131
  4. 2022Legged Locomotion in Challenging Terrains using Egocentric Visioncited by 131
  5. 2022Rapid Locomotion via Reinforcement Learningcited by 130
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  7. 2019MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policiescited by 105
  8. 2022Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotioncited by 98
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  11. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 73
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  14. 2022Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotioncited by 61
  15. 2020Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotioncited by 54
  16. 2021Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulationcited by 44
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  18. 2022Advanced Skills by Learning Locomotion and Local Navigation End-to-Endcited by 39
  19. 2022Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulatorscited by 32
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 7; 2024: 14; 2025: 11; 2026: 1.

33 papers.

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  1. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  2. 2024Expressive Whole-Body Control for Humanoid Robotscited by 117
  3. 2023Robot Parkour Learningcited by 115
  4. 2023Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learningcited by 111
  5. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 78
  6. 2023Gen2Sim: Scaling up Robot Learning in Simulation with Generative Modelscited by 62
  7. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 41
  8. 2023Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Responsecited by 31
  9. 2024Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flightcited by 22
  10. 2025Learning Getting-Up Policies for Real-World Humanoid Robotscited by 21
  11. 2024Learning Force Control for Legged Manipulationcited by 19
  12. 2024Deep Policy Gradient Methods Without Batch Updates, Target Networks, or Replay Bufferscited by 16
21 more
  1. 2025Learning coordinated badminton skills for legged manipulatorscited by 16
  2. 2024Learning Visual Quadrupedal Loco-Manipulation from Demonstrationscited by 15
  3. 2024Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learningcited by 14
  4. 2025Bridging the Sim-to-Real Gap for Athletic Loco-Manipulationcited by 11
  5. 2024Learning Multi-Agent Loco-Manipulation for Long-Horizon Quadrupedal Pushingcited by 9
  6. 2023When is Agnostic Reinforcement Learning Statistically Tractable?cited by 8
  7. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 8
  8. 2023Learning to See Physical Properties with Active Sensing Motor Policiescited by 7
  9. 2024Automatic Environment Shaping is the Next Frontier in RLcited by 6
  10. 2024Reinforcement Learning Within the Classical Robotics Stack: A Case Study in Robot Soccercited by 5
  11. 2023Fully Spiking Neural Network for Legged Robotscited by 4
  12. 2024BAMDP Shaping: a Unified Framework for Intrinsic Motivation and Reward Shapingcited by 4
  13. 2025SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learningcited by 4
  14. 2024DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervisioncited by 2
  15. 2025QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignmentcited by 1
  16. 2025Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teamscited by 1
  17. 2025AURA: Autonomous Upskilling with Retrieval-Augmented Agentscited by 1
  18. 2025CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulationcited by 0
  19. 2025Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learningcited by 0
  20. 2025Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systemscited by 0
  21. 2026Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networkscited by 0