HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation

Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath. HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024. pages 9050-9057, IEEE, 2024. [doi]

Abstract

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