{"paper":{"title":"Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cagri Kilic, Emre Girgin, Gabriel Rodriguez, Jose Castelblanco, Tuba Girgin","submitted_at":"2026-06-05T17:56:42Z","abstract_excerpt":"The object manipulation capabilities of quadruped robots is an open research challenge. While previous studies have focused on low-level policy learning, task execution still relies on expert-designed high-level trajectories. Autonomous selection of both an affordable interaction point on the target object and an affordable robot base pose removes the need for pre-designed trajectories. This study proposes a three-level hierarchical reinforcement learning (RL) framework that utilizes pose affordances to guide the navigation policy, while the navigation policy drives the locomotion policy. In a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07506","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.07506/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}