# RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation Source: [RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation]() Collection index: [llms.txt]() Data updated: 2025-10-26T04:05:09.252Z Authors: Guoping Pan, Qingwei Ben, Zhecheng Yuan, Guangqi Jiang, Yandong Ji, Shoujie Li, Jiangmiao Pang, Houde Liu, Huazhe Xu Published: 2024-03-26T04:05:01.000Z ## Abstract Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports zero-shot transfer across quadruped robots with similar morphology and physical dimensions in the real world. Our experiments demonstrate that RoboDuet achieves a 23% improvement in success rate over the baseline in challenging loco-manipulation tasks employing whole-body control. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults FL Calf v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults FL Calf v1.0; Survival Rate: 32.4. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults RR Calf v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults RR Calf v1.0; Survival Rate: 35.2. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults FR Thigh v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults FR Thigh v1.0; Survival Rate: 60.1. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults RL Thigh v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults RL Thigh v1.0; Survival Rate: 64.8. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults FL Hip v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults FL Hip v1.0; Survival Rate: 73.5. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults RR Hip v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults RR Hip v1.0; Survival Rate: 71.2. - [Locomotion and Workspace Tracking on Simulation Locked Actuator Faults Average v1.0](): Locomotion and Workspace Tracking; Simulation Locked Actuator Faults Average v1.0; Survival Rate: 56.2. - [Locomotion and end-effector pose tracking on Simulation Environment Partial Weakening k\_tau=0.1](): Locomotion and end-effector pose tracking; Simulation Environment Partial Weakening k\_tau=0.1; Survival Rate: 63.2. - [Locomotion and end-effector pose tracking on Simulation Environment Complete Weakening k\_tau=0.0](): Locomotion and end-effector pose tracking; Simulation Environment Complete Weakening k\_tau=0.0; Survival Rate: 50.2. ## Original sources and implementation [Original paper]() [PDF]()