SOMA: Stack-of-Objects Manipulation using a Quadruped Robot
arXiv:2610.20968v1 Announce Type: cross Abstract: Executing heavy-duty physical manipulation in unpredictable environments remains a major challenge for quadrupedal robots lacking dedicated manipulators. This paper presents SOMA, a hierarchical reinforcement learning framework for whole-body non-prehensile manipulation of multi-object stacks using a quadruped robot. Unlike traditional methods restricted to two-dimensional planar pushing, SOMA integrates explicit robot base-height control, unloc…