Robot Platforms

AM-Bench includes four multirotor-based aerial manipulators spanning the principal actuation classes, plus an EE-only oracle used to isolate task and policy behavior from aerial dynamics.

Public name Environment tag Base actuation Arm Intended comparison
EE-only EE free end-effector oracle gripper proxy task logic and policy upper-bound debugging
UA-Quad QuadScorpion conventional quadrotor, 4 rotors 4 DoF compact underactuated platform
UA-Hexa HexaScorpionUAC conventional hexarotor, 6 rotors 4 DoF larger underactuated platform
FA-Hexa HexaScorpion fixed-tilt hexarotor, 6 rotors 4 DoF fully actuated 6-DoF wrench control
Omni-Hexa OmniScorpion variable-tilt multirotor, 12 actuators 3 DoF overactuated, arbitrary-attitude capability

EE-only oracle

The EE-only profile accepts the same end-effector action used by physical robot variants but directly controls a floating end-effector articulation. It is the recommended starting point for validating task geometry, observations, rewards, success criteria, scripted behavior, and learned-policy integration.

It is not a physical aerial-manipulator result and should be labeled as an oracle baseline.

Underactuated platforms

UA-Quad and UA-Hexa cannot independently command all translational and rotational degrees of freedom. Translation generally requires attitude change, which moves the manipulator and consumes thrust margin. Their IK profiles constrain base orientation accordingly, and their base controllers produce total thrust plus body torque.

Fully and overactuated platforms

FA-Hexa produces a full body wrench with fixed tilted rotors. Omni-Hexa additionally changes rotor tilt and can hover at non-level attitudes. These platforms expose different feasible wrench sets and control-allocation behavior even when the policy issues the same end-effector target.

Robot profiles are composed, not selected by conditionals

The maintained configuration surface is RobotProfileCfg. A profile packages:

  • a RobotSpecCfg describing articulation and semantic handles;
  • a ControlPipelineCfg describing action mode, controller, and optional IK;
  • end-effector and optional base cameras.

Tasks select a profile in their configuration. They do not branch on robot names at runtime. See Add a Robot for the extension path and Controllers for supported control combinations.