A curated list of resources relevant to loco-manipulation.
This awesome list is mainly used to organize and share some sources I've seen. This list will be updated gradually.

• [2025 CoRL] MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation [paper]
  Chen Tessler, Yifeng Jiang, Erwin Coumans, Zhengyi Luo, Gal Chechik, Xue Bin Peng

• [2025 CoRL] Learning Unified Force and Position Control for Legged Loco-Manipulation [project]

• [2024 CoRL] SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending [project]

• [2025 arXiv] Versatile Loco-Manipulation through Flexible Interlimb Coordination [paper]

• [2025 arXiv] Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills [paper]

• [2025 arXiv] Versatile Loco-Manipulation through Flexible Interlimb Coordination [paper]

• [2025 RSS] HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit [project]

• [2025 CVPR] Learning Physics-Based Full-Body Human Reaching and Grasping from Brief Walking References [project]

• [2025 CVPR] TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization [project]

• [2024 arXiv] Combining Planning and Diffusion for Mobility with Unknown Dynamics [paper]

• [2024 CoRL] WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts [project]

• [2024 Humanoids] Perceptive Pedipulation with Local Obstacle Avoidance [paper]

• [2024 arXiv] Generalizable Humanoid Manipulation with 3D Diffusion Policies [paper]

• [2024 arXiv] Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion [project]

• [2025 ICRA] Catch It! Learning to Catch in Flight with Mobile Dexterous Hands [project]

• [2024 CORL] UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers [project]

• [2024 Arxiv] Helpful DoggyBot:Open-World Object Fetching using Legged Robots and Vision-Language Models [paper]

• [2024 CORL] HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation [project]

• [2024 CORL] Learning to Open and Traverse Doors with a Legged Manipulator [paper]

• [2024 CORL] Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation [paper]

• [2024 ICRA] Learning to Catch Reactive Objects with a Behavior Predictor [paper]

• [2024 ICRA] Sim-To-Real Learning for Humanoid Box Loco-Manipulation [paper]

• [2024 ICRA] Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images [paper]

• [2024 ICRA] Hierarchical Optimization-Based Control for Whole-Body Loco-Manipulation of Heavy Objects [paper]

• [2024 IROS] HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation [paper]

• [2024 IROS] On Learning Scene-Aware Generative State Abstractions for Task-Level Mobile Manipulation Planning [paper] [code]

• [2024 IROS] Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot [paper] [code]

• [2024 IROS] Harmonic Mobile Manipulation [paper] [code]

• [2024 IROS] Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. [paper]

• [2024 IROS] BASENET: A Learning-based Mobile Manipulator Base Pose Sequence Planning for Pickup Tasks. [paper]

• [2024 Arxiv] Learning Force Control for Legged Manipulation. [paper]

• [2024 Corl] Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning. [paper]

• [2024 Arxiv] Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg. [paper]

• [2024 Corl] Visual Whole-Body Control for Legged Loco-Manipulation. [paper] [code]

• [2024 Arxiv] Learning Generalizable Feature Fields for Mobile Manipulation. [paper]

• [2022 RAL ] Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. [paper]

• [2022 CORL] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion. [paper] [code]

• [2025 arXiv] Humanoid Loco-Manipulations Pattern Generation and Stabilization Control [paper]

• [2024 ICRA] Hierarchical Optimization-based Control for Whole-body Loco-manipulation of Heavy Objects [paper]

• [2024 IROS] Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation [paper]

• [2024 IROS] Current-Based Impedance Control for Interacting with Mobile Manipulators [paper]

• [2024 ICRA] Active-Perceptive Motion Generation for Mobile Manipulation [paper] [code]

• [2024 arXiv] LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators [paper]

• [2023 arXiv] Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research [paper]

• [2023 Science Robotics] Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation [paper]

• [2023 IROS] Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators [paper]

• [2023 Autonomous Robots] RoLoMa: robust loco-manipulation for quadruped robots with arms [paper]

• [2022 arXiv] TeLeMan: Teleoperation for Legged Robot Loco-Manipulation using Wearable IMU-based Motion Capture [paper]

• [2022 RAL] A hybrid learning and optimization framework to achieve physically interactive tasks with mobile manipulators [paper]

• [2020 TRO] A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot [paper]

• [2020 IROS] Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots [paper]

• [2023 Frontiers in Mechanical Engineering] Legged robots for object manipulation: A review [paper]

• [2025 arXiv] Humanoid locomotion and manipulation: Current progress and challenges in control, planning, and learning [paper]

If you find any interesting papers or resources related to loco-manipulation, feel free to open an issue or submit a pull request!

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Last updated: July 2025