{"id":"https://openalex.org/W7163026747","doi":"https://doi.org/10.48550/arxiv.2605.31343","title":"Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation","display_name":"Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7163026747","doi":"https://doi.org/10.48550/arxiv.2605.31343"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.31343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31343","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.2605.31343","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111350345","display_name":"Sikai Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Sikai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137582592","display_name":"Yudong Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Yudong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001401379","display_name":"Guoyang Zhao","orcid":"https://orcid.org/0000-0002-5916-7505"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Guoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137600746","display_name":"Botao Dang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dang, Botao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137540113","display_name":"Zhihai Bi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bi, Zhihai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137613198","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-1137-9349"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Jun","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":0.9613999724388123,"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":0.9613999724388123,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0142000000923872,"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":0.005499999970197678,"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/terrain","display_name":"Terrain","score":0.7591999769210815},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6592000126838684},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6543999910354614},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4830000102519989},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.47749999165534973},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4747999906539917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4648999869823456},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3865000009536743},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.38530001044273376}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7591999769210815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6739000082015991},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6592000126838684},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6543999910354614},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4830000102519989},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.47749999165534973},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4747999906539917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4648999869823456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46160000562667847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.398499995470047},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3865000009536743},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.38530001044273376},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.382099986076355},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.37940001487731934},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3749000132083893},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3637999892234802},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35420000553131104},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29989999532699585},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C2780502288","wikidata":"https://www.wikidata.org/wiki/Q28838156","display_name":"Expansive","level":3,"score":0.2827000021934509},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.2775000035762787},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26030001044273376},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.2572000026702881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.31343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31343","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.2605.31343","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31343","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Legged":[0],"manipulators":[1,212],"integrate":[2,167],"exceptional":[3],"terrain":[4,61,119,172],"adaptability":[5,173],"along":[6],"with":[7,171],"mobile":[8],"manipulation":[9,154],"capabilities,":[10],"which":[11,95,189],"make":[12],"them":[13],"highly":[14],"promising":[15,208],"for":[16,59,92,125],"deployment":[17],"in":[18,107,213],"human-centric":[19],"environments.":[20],"By":[21],"coordinating":[22],"the":[23,36,55,126,149,183,207],"control":[24,90],"of":[25,39,185,210],"both":[26],"legs":[27],"and":[28,51,76,132,179,199],"arms,":[29],"a":[30,87,97,113,142,160,192],"whole-body":[31,45,89,104,169],"controller":[32],"can":[33,66],"significantly":[34],"expand":[35],"operational":[37],"workspace":[38],"legged":[40,93,211],"manipulators.":[41],"However,":[42],"many":[43],"existing":[44],"controllers":[46],"primarily":[47],"depend":[48],"on":[49,148],"proprioception":[50],"do":[52],"not":[53],"incorporate":[54],"critical":[56],"exteroception":[57,115],"required":[58],"effective":[60],"topology":[62],"perception.":[63],"This":[64,203],"limitation":[65],"hinder":[67],"their":[68],"ability":[69],"to":[70,72,103,117,128,135,166,191],"adapt":[71,130],"varying":[73],"environmental":[74],"conditions":[75],"navigate":[77],"complex":[78,218],"terrains":[79],"effectively.":[80],"In":[81],"this":[82],"paper,":[83],"we":[84,111,140],"introduce":[85],"TA-WBC,":[86],"terrain-aware":[88],"framework":[91],"manipulators,":[94],"features":[96],"novel":[98,143],"RL-based":[99],"unified":[100,204],"policy":[101,205],"tailored":[102],"loco-manipulation":[105,215],"tasks":[106,216],"various":[108],"terrains.":[109,219],"Specifically,":[110],"employ":[112],"hybrid":[114],"encoder":[116],"extract":[118],"features,":[120],"providing":[121],"an":[122],"essential":[123],"basis":[124],"robot":[127],"proactively":[129],"posture":[131],"footholds.":[133],"Furthermore,":[134],"facilitate":[136],"stable":[137],"cross-terrain":[138],"loco-manipulation,":[139],"propose":[141],"end-effector":[144],"sampling":[145],"method":[146],"based":[147],"foot":[150],"contact":[151],"plane,":[152],"decoupling":[153],"target":[155],"from":[156],"base":[157],"fluctuations.":[158],"Moreover,":[159],"dual-policy":[161],"distillation":[162],"module":[163],"is":[164],"introduced":[165],"expansive":[168],"motion":[170],"without":[174],"catastrophic":[175],"forgetting.":[176],"The":[177],"simulation":[178],"real-world":[180],"experiments":[181],"validate":[182],"robustness":[184],"our":[186],"proposed":[187],"controller,":[188],"leads":[190],"larger":[193],"reachable":[194],"space,":[195],"less":[196],"tracking":[197],"error,":[198],"reduced":[200],"unexpected":[201],"stumbles.":[202],"highlights":[206],"capabilities":[209],"performing":[214],"across":[217]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-02T00:00:00"}