Learning Tactile-Aware Quadrupedal
Loco-Manipulation Policies

Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

Pokuang Zhou1, Yuhao Zhou1, Quan Khanh Luu1, Seungho Han1, Heng Zhang1,2, Binghao Huang3, Yunzhu Li3, Arash Ajoudani2, Zhengtong Xu1,†, Yu She1,†

1Purdue University, West Lafayette, IN, USA  |  2Istituto Italiano di Tecnologia, Genoa, Italy  |  3Columbia University, New York, NY, USA
† Corresponding Author

Purdue University Istituto Italiano di Tecnologia Columbia University

IROS 2026

arXiv

Learning to Plan and Track Tactile Interaction for Quadrupedal Loco-Manipulation

Pokuang Zhou1, Le Mao2, Xiyue Chen3, Zhiyuan Zhang1, Joseph Campbell2, Yu She1

1Industrial Engineering School  |  2Computer Science School  |  3Electrical and Computer Engineering School
Purdue University, West Lafayette, IN, USA

Purdue University

Coming Soon

Code, Pretrained Checkpoints, and Data

Code and Hugging FaceData will be fully open-sourced once the journal article is published.
Preview version code: including simulation and real-world deployment. 📂link

Clone code:

bash 
git clone --depth 1 --filter=blob:none --no-checkout https://github.com/PokuangZhou/tactile-aware-quadrupedal-loco-manipulation.git && cd tactile-aware-quadrupedal-loco-manipulation && git sparse-checkout init && git sparse-checkout set "/code/" && git checkout main

BibTeX

@article{zhou2026learning,
  title={Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies},
  author={Zhou, Pokuang and Zhou, Yuhao and Luu, Quan Khanh and Han, Seungho and Zhang, Heng and Huang, Binghao and Li, Yunzhu and Ajoudani, Arash and Xu, Zhengtong and She, Yu},
  journal={arXiv preprint arXiv:2604.27224},
  year={2026}
}