Zhihui Peng — accepted AI-conference papers

2026

WholeBodyVLA: Towards Unified Latent VLA for Whole-body Loco-manipulation Control

Haoran Jiang, Jin Chen, Qingwen Bu, Li Chen, Modi Shi, Yanjie Zhang +5

ICLR 2026poster

Humanoid robots require precise locomotion and dexterous manipulation to per- form challenging locomanipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to a limited workspace, preventing it from performing large-s…

Cited by 0 Source ↗code ↗Scholar ↗

2025

Reduced-Dimensional Whole-Body Control Based on Model Simplification for Bipedal Robots With Parallel Mechanisms

Yunpeng Liang, Fulong Yin, Zhen Li, Zhilin Xiong, Zhihui Peng, Yanzheng Zhao +1

RA-L 2025

The presence of parallel mechanisms in bipedal robots increases the complexity of modeling and control, making it crucial to manage the trade-off between model accuracy and real-time control. In this letter, we propose a reduced-dimensional whole-body controller for series-parallel bipedal robots, u

Cited by 7 Source ↗Scholar ↗