  Combining the mobility of legged robots with the manipulation skills of arms
has the potential to significantly expand the operational range and enhance the
capabilities of robotic systems in performing various mobile manipulation
tasks. Existing approaches are confined to imprecise six degrees of freedom
(DoF) manipulation and possess a limited arm workspace. In this paper, we
propose a novel framework, RoboDuet, which employs two collaborative policies
to realize locomotion and manipulation simultaneously, achieving whole-body
control through interactions between each other. Surprisingly, going beyond the
large-range pose tracking, we find that the two-policy framework may enable
cross-embodiment deployment such as using different quadrupedal robots or other
arms. Our experiments demonstrate that the policies trained through RoboDuet
can accomplish stable gaits, agile 6D end-effector pose tracking, and zero-shot
exchange of legged robots, and can be deployed in the real world to perform
various mobile manipulation tasks. Our project page with demo videos is at
https://locomanip-duet.github.io .
