RoboDuet：四足ロボットの全身協調移動操作のための協調ポリシー学習
RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
四足ロボットとアームの全身制御を、移動と操作の2つの協調ポリシーで実現し、類似形態のロボットへのゼロショット転移も可能にしたフレームワーク。
著者: Guoping Pan, Qingwei Ben, Zhecheng Yuan, Guangqi Jiang, Yandong Ji, Shoujie Li, Jiangmiao Pang, Houde Liu, Huazhe Xu
分類: cs.RO
原文アブストラクト
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports zero-shot transfer across quadruped robots with similar morphology and physical dimensions in the real world. Our experiments demonstrate that RoboDuet achieves a 23% improvement in success rate over the baseline in challenging loco-manipulation tasks employing whole-body control. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io.
