PolyMorphWBC: Whole-Body Control from End-Effector Trajectories for Quadrupedal Mobile Manipulation across Arm Morphologies with Extended Reach

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Article Summary

Quadrupedal mobile manipulators can extend their manipulation workspace by coordinating the mounted arm with the mobile base. At the task level, short-horizon end-effector (EE) trajectories provide an interface for specifying the desired manipulation motion without prescribing how it should be realized by the arm and base. However, executing such trajectories remains challenging because the controller must determine when and how the base should move, and this decision depends on the mounted-arm morphology. We therefore present PolyMorphWBC, a hierarchical controller that takes an EE trajectory as the sole task-level motion command and generates coordinated arm--base motions across four families of 6-DoF mounted arms, with extended-reach trajectories beyond the initial fixed-base reach. Within PolyMorphWBC, a trajectory-conditioned coordinator determines the base motion from previewed EE targets, while arm-specific Inverse Kinematics (IK) tracks the current target, and a frozen locomotion backend executes the resulting motion. Cross-arm reuse is enabled by a Unified Robot Description Format (URDF)-derived morphology conditioning, together with online residual-wrench feedback. We train PolyMorphWBC on procedurally generated arms and structured trajectories within and beyond fixed-base reach. In IsaacLab, it achieves 93.95% completion with 2.30cm position error and 4.81° orientation error on held-out trajectories and arm morphologies. In MuJoCo evaluation against UMI-on-Legs, PolyMorphWBC reduces EE position error by 69--72% and orientation error by 91--97% across four within- and extended-reach trajectories. On a physical Go2--ARX5 system, we demonstrate language-conditioned extended-reach pick-and-place using EE trajectories from pi_0 without vision-language-action (VLA)-generated base commands.

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