Test-time steering of pre-trained whole-body policies via sample-based planning lets legged robots generalize dynamic loco-manipulation to varied heavy objects and tasks without additional training or tuning.
Dtc: Deep tracking control.Sci- ence Robotics, 9(86):eadh5401
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Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
Test-time steering of pre-trained whole-body policies via sample-based planning lets legged robots generalize dynamic loco-manipulation to varied heavy objects and tasks without additional training or tuning.