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arXiv · 2506.09406

Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems

Minji Kang·Chanwoo Baek·Yoonsang Lee
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Abstract

Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks such as pressing buttons or opening doors. While these efforts demonstrate the feasibility of leg-based manipulation, most have focused on relatively static tasks. In this work, we propose a framework that enables quadruped robots to collect objects without additional actuators by leveraging the agility of their legs. By attaching a simple scoop-like add-on to one leg, the robot can scoop objects and toss them into a collection tray mounted on its back. Our method employs a hierarchical policy structure comprising two expert policies-one for scooping and tossing, and one for approaching object positions-and a meta-policy that dynamically switches between them. The expert policies are trained separately, followed by meta-policy training for coordinated multi-object collection. This approach demonstrates how quadruped legs can be effectively utilized for dynamic object manipulation, expanding their role beyond locomotion.

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Minji Kang, Chanwoo Baek, Yoonsang Lee. 2025-06-11. Scoop-and-Toss: Dynamic Object Collection for Quadrupedal Systems. https://arxiv.org/abs/2506.09406

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