Author

Simon Le Cleac'h

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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. · 0 citations

Preprint Aug 2026

Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL

This work uses Sample-based Model Predictive Control entirely in simulation as an automated, rapidly tunable expert to generate massive offline datasets and validate the robustness of this sim-to-real framework by successfully deploying complex loco-manipulation skills across different morphologies.

Martin Schuck, Maks Sorokin, S. Manni et al. · 1 citation