Awesome-Quadruped-with-Manipulator

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Awesome-Quadruped-with-Manipulator

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This repository collects academic papers and open-source projects related to quadruped robots equipped with manipulators (arms). The entries are categorized by task type, such as manipulation, locomotion, and whole-body control.

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# Awesome-Quadruped-with-Manipulator [![Awesome](https://awesome.re/badge.svg)](https://awesome.re) ![Maintained](https://img.shields.io/badge/Maintained%3F-yes-brightgreen.svg)

## 🦾 Basic Info
This repository collects **academic papers and open-source projects** related to **quadruped robots equipped with manipulators (arms)**. The entries are categorized by **task type**, such as manipulation, locomotion, and whole-body control.

Feel free to open a pull request for adding new papers, datasets, or codebases related to quadruped robots with arms.

---

## 📚 Table of Contents

### Paper List
- [With Whole-Body Control (WBC)](#with-whole-body-control-wbc)
- [Without Whole-Body Control](#without-whole-body-control)

### Embodiments

### Interesting Videos

---

## Paper List
### With Whole-Body Control (WBC)
- [arXiv 2026.04](https://arxiv.org/pdf/2604.08508) **Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation.** [🌐Website](https://sumo.rai-inst.com/), [🌟Code](https://github.com/rai-opensource/sumo/tree/main)
- [arXiv 2026.03](https://arxiv.org/pdf/2603.02443) **Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control.** 
- [arXiv 2026.02](https://arxiv.org/pdf/2602.04214) **ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator.** [🌐Website](https://zhihaibi.github.io/Alore/), [🌟Code](https://github.com/Zhihaibi/ALORE_Legged_Manipulator)
- [arXiv 2026.01](https://arxiv.org/abs/2601.03956) **CoINS: Counterfactual Interactive Navigation via Skill-Aware VLM.** [🌐Website](https://coins-internav.github.io/), [🌟Code](https://github.com/Zhihaibi/ALORE_Legged_Manipulator)
- [arXiv 2025.12](https://arxiv.org/abs/2512.18938) **A Framework for Deploying Learning-based Quadruped Loco-Manipulation.** 
- [arXiv 2025.10](https://arxiv.org/pdf/2510.09221) **HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation.** 
- [arXiv 2025.08](https://arxiv.org/abs/2508.13151) **Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors.** 
- [arXiv 2025.08](https://arxiv.org/abs/2508.08240) **ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks.** [🌐Website](https://kaijwang.github.io/odyssey.github.io/)
- [arXiv 2025.08](https://arxiv.org/abs/2508.08328) **Whole-Body Coordination for Dynamic Object Grasping with Legged Manipulators.** [🌐Website](https://kolakivy.github.io/DQ/)
- [arXiv 2025.08](https://arxiv.org/abs/2508.10538) **MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm.** 
- [arXiv 2025.07](https://arxiv.org/abs/2507.04229) **Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills.** [🌐Website](https://ecstayalive.github.io/posts/PhysicsFeasibilityGuidedOptimization/)
- [arXiv 2025.06](https://arxiv.org/abs/2506.16986) **Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleratio.** 
- [Science Robotics 2025](https://www.science.org/doi/epdf/10.1126/scirobotics.adu3922) **Learning coordinated badminton skills for legged manipulators.** 
- [arXiv 2025.05](https://arxiv.org/abs/2505.20829) **Learning Unified Force and Position Control for Legged Loco-Manipulation.** [🌐Website](https://unified-force.github.io/) 
- [ICRA 2025](https://arxiv.org/abs/2411.06782) **QuadWBG: Generalizable Quadrupedal Whole-Body Grasping.** [🌐Website](https://quadwbg.github.io/)
- [IROS 2025](http://staff.ustc.edu.cn/~zkan/Papers/Conference/[60]_IROS2025_Yin.pdf) **A Unified Framework to Learn Collision-Free Loco-Manipulation via Adversarial Motion Priors.** 
- [arXiv 2025.05](https://arxiv.org/abs/2503.01474) **Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller.** 
- [arXiv 2024.10](https://arxiv.org/abs/2410.00231) **Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models.** [🌐Website](https://helpful-doggybot.github.io/), [🌟Code](https://github.com/WooQi57/Helpful-Doggybot)
- [arXiv 2024.10](https://arxiv.org/abs/2410.05681) **Whole-Body Dynamic Throwing with Legged Manipulators.** 
- [arXiv 2024.09](https://arxiv.org/abs/2409.19920) **Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion.** [🌐Website](https://playful-doggybot.github.io/)
- [arXiv 2024.09](https://arxiv.org/abs/2409.16048) **Whole-body End-Effector Pose Tracking.** [🌐Website](https://leggedrobotics.github.io/wholebody-pose-control/)
- [RAL 2024](https://arxiv.org/abs/2412.03012) **Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator.** [🌐Website](https://clearlab-sustech.github.io/RFM_loco_mani/)
- [CoRL 2024](https://arxiv.org/abs/2407.10353) **UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers.** [🌐Website](https://umi-on-legs.github.io/), [🌟Code](https://github.com/real-stanford/umi-on-legs)
- [arXiv 2024.07](https://arxiv.org/abs/2407.10420) **Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail.** 
- [ICRA 2024](https://arxiv.org/abs/2405.01402) **Learning Force Control for Legged Manipulation.** [🌐Website](https://tif-twirl-13.github.io/learning-compliance), [🌟Code](https://github.com/Improbable-AI/learning-compliance)
- [arXiv 2024.03](https://arxiv.org/abs/2403.17367v4) **RoboDuet: Whole-body Legged Loco-Manipulation with Cross-Embodiment Deployment.** [🌐Website](https://locomanip-duet.github.io/), [🌟Code](https://github.com/locomanip-duet/RoboDuet)
- [CoRL 2024](https://arxiv.org/abs/2403.16967) **Visual Whole-Body Control for Legged Loco-Manipulation.** [🌐Website](https://wholebody-b1.github.io/), [🌟Code](https://github.com/Ericonaldo/visual_wholebody)
- [ICRA 2024](https://arxiv.org/abs/2311.00112) **Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects.** 
- [IROS 2024](https://ieeexplore-ieee-org.ezproxy.lib.szu.edu.cn/stamp/stamp.jsp?tp=&arnumber=10802754) Whole-body Compliance Control for Quadruped Manipulator with Actuation Saturation of Joint Torque and Ground Friction
- [ICCAS 2024](https://ieeexplore-ieee-org.ezproxy.lib.szu.edu.cn/stamp/stamp.jsp?tp=&arnumber=10773069) **Learning Robust Whole-Body Control for Legged Manipulation via Learned Terrain Estimation.**
- [Autonomous Robots 2023](https://arxiv.org/abs/2203.01446) **RoLoMa: Robust Loco-Manipulation  for Quadruped Robots with Arms.**
- [CoRL 2022](https://arxiv.org/abs/2210.10044) **Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion.** [🌐Website](https://manipulation-locomotion.github.io/), [🌟Code](https://github.com/MarkFzp/Deep-Whole-Body-Control)

---

### Without Whole-Body Control
- [arXiv 2025.02](https://arxiv.org/abs/2502.10894) **Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation.** [🌐Website](https://uan.csail.mit.edu/) 
- [arXiv 2025.02](https://arxiv.org/abs/2502.01546) **Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning.**
- [arXiv 2025.02](https://arxiv.org/abs/2502.05271) **RobotMover: Learning to Move Large Objects From Human Demonstrations.** [🌐Website](https://easypapersniper.github.io/projects/robotMover/robotMover.html)
- [arXiv 2025.01](https://arxiv.org/abs/2501.09905) **SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learning.**
- [arXiv 2025.01](https://arxiv.org/abs/2501.10499) **Learning More With Less: Sample Efficient Dynamics Learning and Model-Based RL for Loco-Manipulation.** 
- [ICRA 2025](https://arxiv.org/abs/2402.11498) **Verifiably Following Complex Robot Instructions with Foundation Models.** [🌐Website](https://robotlimp.github.io/), [🌟Code](https://github.com/benedictquartey/robotlimp)
- [arXiv 2024.11](https://arxiv.org/abs/2411.15131) **WildLMa: Long Horizon Loco-Manipulation in the Wild.** [🌐Website](https://wildlma.github.io/)
- [arXiv 2024.10](https://arxiv.org/abs/2410.06911) **Combining Planning and Diffusion for Mobility with Unknown Dynamics.** [🌐Website](https://yravan.github.io/plannerorderedpolicy/), [🌟Code](https://github.com/zt-yang/diffusion-ccsp)
- [Arxiv 2024](https://arxiv.org/abs/2405.07445) **Cybathlon - Legged Mobile Assistance for Quadriplegics.**
- [ECCV 2024](https://arxiv.org/abs/2405.01527) **Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulation.** [🌐Website](https://homangab.github.io/track2act/), [🌟Code](https://github.com/homangab/Track-2-Act/)
- [CoRL 2024](https://arxiv.org/abs/2408.01258) **Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation.** [🌐Website](https://jacta-manipulation.github.io/)
- [CoRL 2024](https://arxiv.org/pdf/2410.13817) **Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation.** [🌐Website](https://leggedrobotics.github.io/guided-rl-locoma/)
- [CoRL 2024](https://continual-mobile-manip.github.io/) **Continuously Improving Mobile Manipulation with Autonomous Real-World RL.** [🌐Website](https://geff-b1.github.io/)
- [ICRA 2024](https://arxiv.org/abs/2309.15459) **GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion.** [🌐Website](https://pku-epic.github.io/GAMMA/), [🌟Code](https://github.com/user432/gamma)
- [ICRA 2024](https://kl-research.github.io/files/ICRA2024_Kai_v2.pdf) **Learning to Catch Reactive Objects with a Behavior Predictor** [🌐Website](https://kl-research.github.io/dyncatch)
- [arXiv 2024.03](https://arxiv.org/pdf/2403.07563) **Learning Generalizable Feature Fields for Mobile Manipulation.** [🌐Website](https://geff-b1.github.io/)
- [IROS 2024](https://arxiv.org/abs/2403.19862) **PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control.**
- [Science Robotics 2023](https://arxiv.org/abs/2308.09179) **Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation.** 
- [IROS 2023](https://arxiv.org/abs/2307.04918) **Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators.**
- [RAL 2023](https://arxiv.org/abs/2304.00410) **Asc: Adaptive skill coordination for robotic mobile manipulation.** [🌐Website](https://adaptiveskillcoordination.github.io/)
- [RAL 2022](https://arxiv.org/abs/2211.10270) **Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation.**
- [ROBIO 2022](https://arxiv.org/abs/2203.03391) **A transferable legged mobile manipulation framework based on disturbance predictive control.**
- [IROS 2022](https://arxiv.org/abs/2207.14745) **Collision detection and identification for a legged manipulator.** 
- [IROS 2022](https://arxiv.org/abs/2103.10534) **Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.** [🌐Website](https://www.pair.toronto.edu/articulated-mm/)
- [RAL 2021](https://arxiv.org/abs/2103.00946) **A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation.**
- [IROS 2021](https://arxiv.org/abs/2108.07658) **Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays.**

## Embodiments
| Name        | Robot Base      | Arm           | Formats |
|-------------|------------------|----------------|---------|
| **Go2-Arx**        | Go2                | Arx-L5-Pro        | [URDF](./Embodiments/go2_arx)    |
| **widowGo1**       | Go1                | WidowX            | [URDF](./Embodiments/widowGo1)    |
| **arx5p2Go1**      | Go1                | Arx-5P2           | [URDF](./Embodiments/arx5p2Go1)    |
| **B1-Z1**          | Unitree B1         | Unitree Z1        | [URDF](./Embodiments/B1_Z1)    |
| **Aliengo-Z1**     | Unitree Aliengo    | Unitree Z1        | [URDF](./Embodiments/aliengoZ1)    |

## Interesting Videos
- [Spot's Got an Arm!](https://www.youtube.com/watch?v=6Zbhvaac68Y&t=1s)
- [Unitree Robotics AlienGo + Z1 for Fire Rescue](https://www.youtube.com/watch?v=7CVwGY65In8)
- [Hey Buddy, Can You Give Me a Hand?](https://www.youtube.com/watch?v=fUyU3lKzoio)
- [機器狗也瘋K-POP](https://www.youtube.com/watch?v=hdir2OQWAXw)
- [樹莓派5 PuppyPi Arm仿生四足手臂狗](https://www.youtube.com/watch?v=Lw3x7dmmQss)

## 📜 License
MIT License

Awesome-Quadruped-with-Manipulator

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