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Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
arXiv:2605.31343v1 Announce Type: new Abstract: Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environments. By coordinating the control of both legs and arms, a whole-body controller can significantly expand the operational workspace of legged manipulators. However, many existing whole-body controllers primarily depend on proprioception and do not incorporate the...