Event
VLA model achieves closed-loop mobile manipulation on quadruped robot arm
1 reports · 1 sources
Giovanni Minelli and other authors published a study deploying a VLA model on a platform consisting of a Unitree Go2 quadruped robot equipped with an AgileX Piper robotic arm, achieving closed-loop mobile manipulation. The authors state that the model variant, action horizon, and demonstration conventions were key choices that made real-robot deployment feasible, and they separately examined data coverage and model capacity for a pick-and-place task. The authors report that expanding demonstration coverage reduced end-effector error on the held-out set by 30%; adding secondary skills such as pushing introduced new behavioral modes without degrading baseline performance. Closed-loop real-robot experiments showed that dataset composition affects task success, and the authors accordingly believe this pipeline can support more complex mobile manipulation.
Report timeline
- From Tabletop to Walking Robot: Deploying a VLA Model on a Legged Manipulation Robot
The research team deployed a VLA model on a Unitree Go2 quadruped equipped with an AgileX Piper robotic arm, achieving closed-loop mobile manipulation, and reported choices such as model variant, action horizon, and demonstration conventions that made real-robot deployment feasible. For the pick-and-place task, expanding demonstration coverage reduced held-out end-effector error by 30%, and adding secondary skills such as pushing introduced new behavior modes without degrading baseline performance. Closed-loop real-robot experiments showed that dataset composition affects task success.
arXiv cs.RO ·