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Author

Panagiotis K. Artemiadis

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#artificial intelligence Preprint Oct 2026

SOMA: Stack-of-Objects Manipulation using a Quadruped Robot

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. U...

Stergios E. Bachoumas, Panagiotis K. Artemiadis · 0 citations

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