GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots

arXiv:2509.17582 · cs.RO · Submitted 2025-09-22 · Read on arXiv

cs.RO

Submitted: 2025-09-22

Updated: 2026-09-21

Terminology

• Reinforcement Learning — 13× in this paper · explained in 4 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 5× in this paper · explained in 2 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Deep Reinforcement Learning (DRL) — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Sparsity — 2× in this paper · explained in 4 episodes
• Trajectory Optimization — 2× in this paper
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Activation Function — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
• Advanced Skills by Learning Locomotion and Local Navigation End-to-End
• Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
• ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
• Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning
• DTC: Deep Tracking Control
• Agile Maneuvers in Legged Robots: a Predictive Control Approach
• Perceptive Locomotion through Nonlinear Model Predictive Control
• Learning Agile Locomotion on Risky Terrains
• Attention-Based Map Encoding for Learning Generalized Legged Locomotion
• Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot
• DribbleBot: Dynamic Legged Manipulation in the Wild
• RAMBO: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation
• Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
• Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing
• Constrained Reinforcement Learning with Smoothed Log Barrier Function
• Symmetry Considerations for Learning Task Symmetric Robot Policies
• Mish: A Self Regularized Non-Monotonic Activation Function

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