Rambo: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation

摘要

Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled dynamics. While model-based controllers provide precise planning via online optimization, they are limited by model inaccuracies. In contrast, learning-based methods offer robustness, but they struggle with precise modulation of interaction forces. We introduce <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">RAMBO</small>, a hybrid framework that integrates model-based whole-body control within a feedback policy trained with reinforcement learning. The model-based module generates feedforward torques by solving a quadratic program, while the policy provides feedback corrective terms to enhance robustness. We validate our framework on a quadruped robot across a diverse set of real-world loco-manipulation tasks, such as pushing a shopping cart, balancing a plate, and holding soft objects, in both quadrupedal and bipedal walking. Our experiments demonstrate that <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">RAMBO</small> enables precise manipulation capabilities while achieving robust and dynamic locomotion.