{"id":"https://openalex.org/W7161560382","doi":"https://doi.org/10.48550/arxiv.2605.15713","title":"Learning Dynamic Pick-and-Place for a Legged Manipulator","display_name":"Learning Dynamic Pick-and-Place for a Legged Manipulator","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161560382","doi":"https://doi.org/10.48550/arxiv.2605.15713"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15713","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15713","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15713","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101411020","display_name":"Moonkyu Jung","orcid":"https://orcid.org/0009-0003-7983-818X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jung, Moonkyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134745404","display_name":"Jiseong Lee","orcid":"https://orcid.org/0009-0006-0636-8676"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jiseong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079093630","display_name":"Zhengmao He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Zhengmao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043495281","display_name":"Donghoon Youm","orcid":"https://orcid.org/0009-0003-8735-9373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Youm, Donghoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088502604","display_name":"Juhyeok Mun","orcid":"https://orcid.org/0000-0002-6558-3660"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mun, Juhyeok","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136376676","display_name":"HyeongJun Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, HyeongJun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051505949","display_name":"Hyunsik Oh","orcid":"https://orcid.org/0009-0009-8907-3671"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Hyunsik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136396699","display_name":"Donghyuk Choi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Donghyuk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051718233","display_name":"Jungwoo Hur","orcid":"https://orcid.org/0009-0004-3641-355X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hur, Jungwoo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136426661","display_name":"Jie Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Jie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080397455","display_name":"Jemin Hwangbo","orcid":"https://orcid.org/0000-0002-3444-8079"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hwangbo, Jemin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.5960999727249146,"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":0.5960999727249146,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.1421000063419342,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.13650000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7059000134468079},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.532800018787384},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5217999815940857},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4961000084877014},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4918000102043152},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4659000039100647},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4578999876976013},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45089998841285706},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.41440001130104065}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7059000134468079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6743999719619751},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.532800018787384},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5217999815940857},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4961000084877014},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4918000102043152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48010000586509705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4659000039100647},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4578999876976013},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45089998841285706},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.41440001130104065},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4025000035762787},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36410000920295715},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.35429999232292175},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.34779998660087585},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3366999924182892},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.3034999966621399},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2987000048160553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28290000557899475},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2825999855995178},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2662999927997589},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.26440000534057617},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15713","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15713","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15713","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15713","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Legged":[0],"manipulators":[1,177],"extend":[2],"robotic":[3,47],"capabilities":[4],"beyond":[5],"static":[6],"manipulation":[7,19,164],"by":[8],"integrating":[9],"agile":[10],"locomotion":[11,23,162],"with":[12,44,63,75,93,134,153,182],"versatile":[13],"arm":[14],"control.":[15],"However,":[16],"achieving":[17],"precise":[18],"while":[20],"maintaining":[21],"coordinated":[22],"remains":[24],"a":[25,31,41,45,108],"major":[26],"challenge.":[27],"This":[28],"work":[29],"presents":[30],"hierarchical":[32],"reinforcement":[33],"learning":[34],"framework":[35,50,159],"for":[36,61,128,165,178],"dynamic":[37],"pick-and-place":[38,151,181],"tasks":[39],"using":[40],"quadruped":[42],"equipped":[43],"6-DOF":[46],"arm.":[48],"The":[49,81],"incorporates":[51],"an":[52,71,122,135],"explicit":[53],"mass":[54],"estimation":[55],"module":[56],"enabling":[57],"adaptive":[58],"whole-body":[59,180],"control":[60],"objects":[62,148],"varying":[64],"weights.":[65],"In":[66],"simulation,":[67],"the":[68,119,157,172],"system":[69,120],"achieves":[70],"86.05%":[72],"success":[73,124],"rate":[74,125],"payloads":[76,129,184],"up":[77,130],"to":[78,116,131],"2.3":[79],"kg.":[80],"approach":[82],"is":[83],"further":[84],"validated":[85],"through":[86],"real-world":[87],"experiments":[88],"across":[89],"six":[90],"representative":[91],"scenarios":[92],"controlled":[94],"variations":[95],"in":[96],"object":[97],"physical":[98],"properties":[99],"(size":[100],"and":[101,103,149,163,185],"mass)":[102],"task":[104],"heights.":[105],"Specifically,":[106],"within":[107],"wide":[109],"vertical":[110],"workspace":[111],"ranging":[112],"from":[113],"ground":[114],"level":[115],"1.1~m-high":[117],"tabletops,":[118],"demonstrates":[121],"average":[123,136],"of":[126,139,174],"73.3%":[127],"1.3":[132],"kg,":[133],"execution":[137],"time":[138],"4.06":[140],"s.":[141],"Unlike":[142],"prior":[143],"works":[144],"that":[145],"handle":[146],"lightweight":[147],"execute":[150],"motions":[152],"slow,":[154],"piecewise":[155],"motions,":[156],"proposed":[158],"exploits":[160],"concurrent":[161],"dynamic,":[166],"continuous":[167],"execution.":[168],"These":[169],"results":[170],"demonstrate":[171],"potential":[173],"quadrupedal":[175],"mobile":[176],"adaptive,":[179],"heavier":[183],"extended":[186],"workspaces.":[187]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-19T00:00:00"}