Papers

ReCo: Response-Consistent Locomotion with Policy-Aware MPC for Legged Manipulation

In this preprint, the authors present ReCo, a framework that trains a quadruped locomotion policy to have a predictable command response and then couples it with policy-aware MPC to jointly plan base motion and a six-DoF arm for continuous manipulation. In simulation, ReCo cuts end-effector position RMSE by 28.7% and orientation RMSE by 27.4% versus the best baselines and succeeds in 75/100 runs versus 42/100 for the strongest baseline; the full stack runs onboard a Unitree Go2 with an ARX X5 arm. This matters because it makes continuous world-frame manipulation while walking practical without a full accurate contact model.