Author

Leixin Chang

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Preprint Sep 2026

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

Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintain...

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