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Author

Tian-Lin Zhang

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3 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
Preprint Sep 2026

A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators

Continuum manipulators provide dexterous motion in confined spaces, but structural compliance, hysteresis, and load-dependent deformation leave residual position and orientation errors that can undermine reliable contact with rigid grippers. To address this limitation, this paper presents a lightweight support-enhanced...

Dan-Yu Liu, Tian-Lin Zhang, Wei Chen et al. · 0 citations

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