Preprint
Oct 2026
Learning Multi-Phase Robot Loco-Manipulation via Phase-Conditioned Policy Optimization
Complex whole-body loco-manipulation requires executing diverse maneuvers, such as crouching, grasping, and locomotion, within a single long-horizon task. While performing simple pick-and-place behaviors is well-established, scaling to complex, long-horizon tasks remains difficult. Currently, this challenge is addresse...
S. Manni, Annika Wollschläger, Dario Bellicoso et al.
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