Author

Hua Chen

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Preprint Sep 2026

Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

A unified whole-body controller trained with reinforcement learning that directly maps 6-DoF end-effector targets to coordinated actions for the bipedal base and robotic arm, providing a common end-effector interface for diverse manipulation tasks.

Zhong-Yue Chen, Yuxuan Nai, Qian Chen et al. · 0 citations

Preprint Aug 2026

Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception

An integrated framework that combines a vision module for landing point and time prediction with a direct position and time conditioned RL locomotion policy, instead of intermediate velocity commands is proposed, which mitigates perception latency during dynamic interception.

Yi-Dong Zhu, Zibo Dai, Tong-Ning Zhang et al. · 0 citations