Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation), a two-layer framework designed for legged robots equipped with manipulators to perform human-centered mobile manipulation tasks. The first layer utilizes a goal-conditioned autonomous exploration policy to guide the robot to semantically specified targets, such as a black office chair in a dynamic environment. The second layer employs a unified whole-body loco-manipulation policy to coordinate the arm and legs for precise interaction tasks-for example, handing a drink to a person seated on the chair. We have conducted an initial deployment of the navigation module, and will continue to pursue finer-grained deployment of whole-body loco-manipulation.

翻译：在非结构化环境中实现无缝移动操作，要求机器人能够结合自主探索与全身控制进行物理交互。本文提出HANDO（分层自主导航与灵巧全方位移动操作），这是一个为配备机械臂的腿式机器人执行以人为中心的移动操作任务而设计的两层框架。第一层采用目标条件自主探索策略，引导机器人抵达语义指定的目标（例如动态环境中的黑色办公椅）。第二层运用统一的全身移动操作策略，协调机械臂与腿部执行精确交互任务——例如将饮料递给坐在椅子上的人。我们已初步部署了导航模块，并将继续推进全身移动操作更细粒度的部署。