Author

Lingwei Zhang

2 papers indexed here

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Preprint Oct 2026

Online Learning of Heterogeneous Locomotion Dynamics under Reinforcement Learning Policies for Precise Loco-Manipulation

An online method to learn the closed-loop dynamics under a frozen locomotion policy with consistent and unbiased dynamics estimates is proposed, and model predictive control (MPC) predicts floating-base motion accurately and enables precise loco-manipulation.

Tian-Lin Zhang, Wei-Peng Xia, Ling-Wei Zhang et al. · 0 citations

Preprint Sep 2026

Force-Aware Reinforcement Learning with Hybrid Sensorless Force Estimation for Wheeled-Legged Loco-Manipulation

Force-controlled loco-manipulation requires a whole-body policy to coordinate locomotion and arm motion while regulating end-effector interaction forces. This is challenging under floating-base dynamics and changing support contacts, particularly when end-effector force/torque sensing is unavailable for control. This p...

Xuanqi Zeng, Jia-Ming Wang, Tian-Lin Zhang et al. · 0 citations