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simmediumlocomotionmetric · varies
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
Description
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of end-effectors for manipulation, limited semantic understanding using only simulation data, and low traversability and reachability in indoor environments. We present a system for quadrupedal mobile manipulation in indoor environments. It uses a front-mounted gripper for