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Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintaining balance. We present a unified whole-body controller trained with reinforcement learning that directly maps 6-DoF end-effector targets to coordinated actions for the bipedal base and robotic arm. Given only an end-effector target, the learned controller autonomously coordinate

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