SLIM: Sim-to-Real Legged Instructive Manipulation via Long-Horizon Visuomotor Learning

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for visual-mobile manipulation following instructions and a low-level policy for quadruped movement and limb control, 2) a progressive exploration and learning approach that leverages privileged task decomposition information to train the teacher policy for long-horizon tasks, which will guide an imitation-based student policy for efficient training of the high-level visuomotor policy, and 3) a suite of techniques for minimizing sim-to-real gaps. In contrast to previous approaches that use high-end equipment, our system demonstrates effective performance with more accessible hardware - specifically, a Unitree Go1 quadruped, a WidowX250S arm, and a single wrist-mounted RGB camera - despite the increased challenges of sim-to-real transfer. When fully trained in simulation, a single policy autonomously solves long-horizon tasks such as search, move, grasp, and drop-into, achieving nearly 80% success. This performance is comparable to that of expert human teleoperation on the same tasks but significantly more efficient, operating at about 1.5x the speed. The sim-to-real transfer is fluid across diverse indoor and outdoor scenes under varying lighting conditions. Finally, we discuss the key techniques that enable the entire pipeline, including efficient RL training and sim-to-real, to work effectively for legged mobile manipulation, and present their ablation results.