Pedipulating a freestanding articulated object requires controlling its pose and internal configuration while maintaining balance.
We demonstrate this capability by autonomously solving a giant Rubik's Cube with a quadruped using only its feet.
The task demands repeated precise interactions, since unintended layer motion can invalidate subsequent operations.
We develop an onboard RGB-D perception pipeline that estimates the cube's metric pose and its full color state from partial views acquired through locomotion and flipping.
A planner converts the computed solve into robot-executable skill sequences.
Learned whole-body skills reorient the cube while preserving its layer configuration and turn its layers with one foot pinning the cube as the other pushes.
We train these skills using reinforcement learning with privileged observations and distill them into policies that map onboard depth and proprioception to joint targets.
The deployed policies tolerate variations in relative robot-cube placement and recover from external disturbances.
The system completes three autonomous hardware solves, each about 30 steps over 8-9 minutes.
These results show that combining onboard perception with coordinated pedipulation enables a quadruped to complete extended multi-step physical tasks.
Additional material can be found at: https://leggedrobotics.github.io/rubik-skills/
