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simmediummobile-manipulationmetric · varies
HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation
Description
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation), a two-layer framework designed for legged robots equipped with manipulators to perform human-centered mobile manipulation tasks. The first layer utilizes a goal-conditioned autonomous exploration policy to guide the robot to seman