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Published at December 4

Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator

cs.RO

cs.LG

Released Date: December 4, 2024

Authors: Kaiwen Jiang¹, Zhen Fu, Junde Guo, Wei Zhang, Hua Chen

Aff.: ¹Southern University of Science and Technology, Shenzhen, China

Arxiv: http://arxiv.org/pdf/2412.03012v1

Refer to caption

	Success Rate $\uparrow$	Aver. Power (W) $\downarrow$	Aver. Acc. (rad $\cdot$ s^-2) $\downarrow$	EE pos. error (m) $\downarrow$	EE ori. error (rad) $\downarrow$	Nominal Devi. (m) $\downarrow$
Ours	$\textbf{99.0}\%$	$70.983$	$143.747$	0.022	$0.041$	0.115
w/o LMF	$82.1\%$	$122.923$	$332.884$	$0.023$	$0.066$	$0.228$
w/o RP	$93.0\%$	$65.321$	$171.341$	$0.045$	0.029	$0.393$
w/o En.	$98.7\%$	62.091	121.317	$0.036$	$0.117$	$0.117$
w/o RFM	$92.9\%$	$87.223$	$186.940$	$0.168$	$0.030$	$0.467$