{"id":"https://openalex.org/W4414110601","doi":"https://doi.org/10.1109/lra.2025.3608425","title":"Learning Multi-Stage Pick-and-Place With a Legged Mobile Manipulator","display_name":"Learning Multi-Stage Pick-and-Place With a Legged Mobile Manipulator","publication_year":2025,"publication_date":"2025-09-10","ids":{"openalex":"https://openalex.org/W4414110601","doi":"https://doi.org/10.1109/lra.2025.3608425"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3608425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3608425","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101758339","display_name":"Haichao Zhang","orcid":"https://orcid.org/0000-0002-3276-3390"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Haichao Zhang","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009585935","display_name":"Haonan Yu","orcid":"https://orcid.org/0000-0001-9882-4929"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haonan Yu","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111118114","display_name":"L. Z. Zhao","orcid":"https://orcid.org/0009-0009-1521-0426"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le Zhao","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041230683","display_name":"Andrew Choi","orcid":"https://orcid.org/0009-0006-2055-8118"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Choi","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000151194","display_name":"Qinxun Bai","orcid":"https://orcid.org/0009-0005-1429-7049"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qinxun Bai","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029379121","display_name":"Yiqing Yang","orcid":"https://orcid.org/0009-0004-9081-459X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yiqing Yang","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050671757","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-8824-1727"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["Horizon Robotics, Cupertino, CA, USA"],"affiliations":[{"raw_affiliation_string":"Horizon Robotics, Cupertino, CA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101758339"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2303691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11419","last_page":"11426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9702000021934509,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6776999831199646},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6775000095367432},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6323999762535095},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5522000193595886},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5322999954223633},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.510699987411499},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4165000021457672}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7089999914169312},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6776999831199646},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6775000095367432},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6323999762535095},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5522000193595886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5465999841690063},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5322999954223633},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.510699987411499},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4165000021457672},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.39989998936653137},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.37599998712539673},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2888000011444092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27459999918937683}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3608425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3608425","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2995046958","https://openalex.org/W4214634122","https://openalex.org/W4366827905","https://openalex.org/W4385858056","https://openalex.org/W4388895019","https://openalex.org/W4388936652","https://openalex.org/W4401413985","https://openalex.org/W4401414901","https://openalex.org/W4402485786","https://openalex.org/W4408441563"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2724068543","https://openalex.org/W1995224181","https://openalex.org/W577644862","https://openalex.org/W2373585563","https://openalex.org/W2643283410"],"abstract_inverted_index":{"Quadruped-based":[0],"mobile":[1,41],"manipulation":[2],"presents":[3],"significant":[4],"challenges":[5],"in":[6,54,61],"robotics":[7],"due":[8],"to":[9],"the":[10,15,62,127],"diversity":[11],"of":[12,91,114],"required":[13],"skills,":[14],"extended":[16],"task":[17,27,84],"horizon,":[18],"and":[19,56,73,83,103,116,121],"partial":[20],"observability.":[21],"After":[22],"presenting":[23],"a":[24,29,50,112],"multi-stage":[25],"pick-and-place":[26],"as":[28,81],"succinct":[30],"yet":[31],"sufficiently":[32],"rich":[33],"setup":[34],"that":[35,47],"captures":[36],"key":[37,98],"desiderata":[38],"for":[39,100],"quadruped-based":[40],"manipulation,":[42],"we":[43],"propose":[44],"an":[45,88],"approach":[46],"can":[48],"train":[49],"visuo-motor":[51],"policy":[52,66],"entirely":[53],"simulation,":[55],"achieve":[57],"nearly":[58],"80%":[59],"success":[60],"real":[63],"world.":[64],"The":[65],"efficiently":[67],"performs":[68],"search,":[69],"approach,":[70],"grasp,":[71],"transport,":[72],"drop":[74],"into":[75],"actions,":[76],"with":[77,94],"emerged":[78],"behaviors":[79],"such":[80],"re-grasping":[82],"chaining.":[85],"We":[86],"conduct":[87],"extensive":[89],"set":[90],"real-world":[92],"experiments":[93,108],"ablation":[95],"studies":[96],"highlighting":[97],"techniques":[99],"efficient":[101],"training":[102],"effective":[104],"sim-to-real":[105],"transfer.":[106],"Additional":[107],"demonstrate":[109],"deployment":[110],"across":[111],"variety":[113],"indoor":[115],"outdoor":[117],"environments.":[118],"Demo":[119],"videos":[120],"additional":[122],"resources":[123],"are":[124],"available":[125],"on":[126],"project":[128],"page:":[129],"<uri":[130],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://horizonrobotics.github.io/gail/SLIM</uri>.":[132]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
