百晓学者学者目录

张恒

教授、硕士生导师，成都信息工程大学

精选作品

期刊论文

2026

内蒙古大兴安岭地区森林雷击火灾时空动态趋势研究

班擎宇，孙一丹，赵昱栋，高伟，张恒

《西南林业大学学报(自然科学)》

2025

2021年春季塔里木盆地典型沙尘天气过程气溶胶垂直分布及传输

田文君，薛一波，张小啸，雷加强，李生宇，范敬龙，张恒

《干旱区研究》

DOI

2020

呼伦贝尔市气候变化对森林草原火灾的影响及未来趋势分析

张恒，张秋良，岳阳，宋希明，代海燕，伊伯乐

《南京林业大学学报(自然科学版)》

2017

大量程大变率高精度雷达水位计关键技术研究

周冬生，宗军，张恒

《水文》

2013

山西阳泉空气污染特征及其与气象要素的相关性分析

牛俊玫，吴瑶，张恒，元震

《成都信息工程大学学报》

2011

四川凉山平川镇“7.14”泥石流灾害的气象成因

吴莉娟，肖天贵，顾林康，江智全，张恒，何劲夫

《成都信息工程大学学报》

2011

基于集合预报的四类持续性灾害性天气中期概率预报应用技术分析

张恒，肖天贵，金荣花，牛若芸，胥丁凡

《成都信息工程大学学报》

2010

四川巴中地区38年来气候变化特征分析

张雷，肖天贵，燕亚菲，张恒，钟樨

《成都信息工程大学学报》

会议论文

2026

“气象+保险”融合创新：筑牢风险保障新防线——四川巴中实践与推广价值

蒲忆芬，曾旭峰，张恒，冯禹文，吴寇

《第二届金融气象学术年会摘要集》

DOI

2025

黑龙江省近32年来酸雨时空变化特征及污染源分析

吴琼，方冬青，薄宇，张恒，王宇凡，曲芙瑶

《第36届中国气象学会年会摘要集——S2 大气环境与污染气象》

DOI

2025

《基于不同机器学习模型在多源微波遥感数据反演积雪深度的实用性对比分析》

张恒，韩书新，裴宇航，冯岩莹，辛华剑，孙涛，潘雪

《第36届中国气象学会年会摘要集——S16 灾害天气监测、分析与预报》

DOI

2025

东北亚地区FY4B卫星定量降水估计

吴霞，石慕真，荔千妮，公衍铎，张恒，辛华剑，刘年庆

《第36届中国气象学会年会摘要集——S15 水文气象：水文气象模式与中小流域灾害临灾预警》

DOI

2025

黑龙江省2024年汛期高分三号数据在重点区域水体监测中的应用

辛华剑，韩书新，苏晓蕾，吴霞，荔千妮，张恒

《第36届中国气象学会年会摘要集——S15 水文气象：水文气象模式与中小流域灾害临灾预警》

DOI

2017

四川一次超级单体风暴的多普勒雷达观测分析

范思睿，陶丽，张恒，古亚丽

《第34届中国气象学会年会 S14 云降水物理与人工影响天气进展论文集》

2013

ZY-3号卫星气溶胶光学反演研究

李家国，张恒，余涛，赵亚萌，王靓，孟庆岩

《中国地震学会空间对地观测专业委员会2013年学术研讨会》

预印本

2026

Frequency-aware forecasting for short-term typhoon gust prediction

Xuefei Wang, Tingyi Liu, Heng Zhang, Lei Xu, Shengjun Zhang

arXiv preprint

2026

Decision-dependent distributionally robust standard quadratic optimization with Wasserstein ambiguity

Immanuel M. Bomze, Daniel de Vicente, Abdel Lisser, Heng Zhang

arXiv preprint

2026

CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation

Heng Zhang, Wei-Hsing Huang, Qiyi Tong, Gokhan Solak, Puze Liu, Kaidi Zhang, Sheng Liu, Jan Peters, Yu She, Arash Ajoudani

arXiv preprint

2026

CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation

Zhaohong Mai, Chao Wang, Chao Zeng, Sitong Mao, Heng Zhang, Shunbo Zhou, Chenguang Yang

arXiv preprint

2026

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

Changhao Li, Yifang Zhang, Heng Zhang, Davide Torielli, Damiano Gasperini, Arturo Laurenzi, Luca Muratore, Arash Ajoudani, Nikos Tsagarakis

arXiv preprint

2026

FORTE: Task-Adaptive Force Capability Optimization for Mobile Manipulators

Xiao Wang, Heng Zhang, Gokhan Solak, Fei Zhao, Arash Ajoudani

arXiv preprint

2026

Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics

Youyuan Long, Gokhan Solak, Sara Zeynalpour, Heng Zhang, Arash Ajoudani

arXiv preprint

2026

Do Not Cut When Uncertain: Rejectable and Calibrated Decision Heads for VLA Policies in Robotic Harvesting

Heng Zhang

arXiv preprint

2026

Reward-Zero: Language Embedding Driven Implicit Reward Mechanisms for Reinforcement Learning

Heng Zhang, Haddy Alchaer, Arash Ajoudani, Yu She

arXiv preprint

2026

HyperSim: A Holistic Sim-To-Real Framework For Robust Robotic Manipulation

Junyi Dong, Haotian Luo, Ziwei Xu, Shengwei Bian, Heng Zhang, Sitong Mao, Jingyi Guo, Yang Xu, Wenhao Chen, Qiuyu Feng, Yao Mu, Ping Luo, Shunbo Zhou, Xiaodong Wu

arXiv preprint

2026

How to Learn from What a Human Would Avoid? Intervention-Aware World Models with Real-World RL for Dexterous Manipulation

Jiaju Yin, Zhenhui Zhang, Lixin Xu, Heng Zhang, Jun Shao, Yating Feng, Arash Ajoudani, Renjing Xu

arXiv preprint

2026

Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations

Luca Zanetti, Doganay Sirintuna, Idil Ozdamar, Pietro Balatti, Heng Zhang, Arash Ajoudani

arXiv preprint

2026

Nonlinear-Gain Distributed Zeroth-Order Optimization for Networked Black-Box Control

Shengjun Zhang, Tingyi Liu, Heng Zhang, Dong Xie

arXiv preprint

DOI

2026

ZO-COSMO: Index-Free One-Hop Mixing for Decentralized Zeroth-Order Optimization

Shengjun Zhang, Tingyi Liu, Heng Zhang, Dong Xie

arXiv preprint

2026

Enhancing Bayesian Optimization and Active Learning Through Kernel Diversity

Heng Zhang, Haotian Xiang, Konstantinos D. Polyzos, Tara Javidi, Qin Lu

arXiv preprint

2026

ManiUnit: A Manipulation Skill Dataset and Benchmark for Long-Horizon Tasks

Guoting Wei, Dawei Yan, Xia Yuan, Gengming Zhang, Yelin He, Guodong Du, Jiaquan Ye, Heng Zhang, Xinming Wei, Xianbiao Qi, Chunxia Zhao, Haokui Zhang, Rong Xiao

arXiv preprint

2026

AnchorVLA: Bridging Discrete Decisions and Continuous Trajectories for Vision-Language-Action Planning

Qi Liu, Yabei Li, Hongsong Wang, Heng Zhang, Lei He

arXiv preprint

2026

Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu, Seungho Han, Heng Zhang, Binghao Huang, Yunzhu Li, Arash Ajoudani, Zhengtong Xu, Yu She

arXiv preprint

2026

Bayesian optimization with kernel ensembles and disagreement-based acquisition for source localization and acoustic inversion

Heng Zhang, Haotian Xiang, Florian Meyer, Qin Lu

arXiv preprint

2026

VidAct: Learning Manipulation from In-the-Wild Videos with Object-Centric 3D Awareness

Hang Li, Mingxin Zhang, Zihan Wu, Yang Tian, Dong Chen, Fengyi Shen, Yuan Meng, Xiangtong Yao, Heng Zhang, Ziyuan Liu, Zhenshan Bing, Alois Knoll

arXiv preprint

2026

NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang, Heng Zhang, Minghao Guo, Yunsheng Tian, Michal Piotr Lipiec, Joshua Jacob, Chao Liu, Peter Yichen Chen, Yuri Ivanov, Wojciech Matusik

arXiv preprint

2026

Eventual convexity for separable chance constraints with skewed generalized hyperbolic random variables

Heng Zhang, Abdel Lisser

arXiv preprint

2026

GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning

Yufei Jia, Heng Zhang, Ziheng Zhang, Junzhe Wu, Mingrui Yu, Zifan Wang, Dixuan Jiang, Zheng Li, Chenyu Cao, Zhuoyuan Yu, Xun Yang, Haizhou Ge, Yuchi Zhang, Jiayuan Zhang, Zhenbiao Huang, Tianle Liu, Shenyu Chen, Jiacheng Wang, Bin Xie, Xuran Yao, Xiwa Deng, Guangyu Wang, Jinzhi Zhang, Lei Hao, Zhixing Chen, Yuxiang Chen, Anqi Wang, Hongyun Tian, Yiyi Yan, Zhanxiang Cao, Yizhou Jiang, Hanyang Shao, Yue Li, Lu Shi, Bokui Chen, Wei Sui, Hanqing Cui, Yusen Qin, Ruqi Huang, Lei Han, Tiancai Wang, Guyue Zhou

arXiv preprint

2025

Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks

Heng Zhang, Gokhan Solak, Arash Ajoudani

arXiv preprint

2025

Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models

Heng Zhang, Rui Dai, Gokhan Solak, Pokuang Zhou, Nikos Tsagarakis, Yu She, Arash Ajoudani

arXiv preprint

2025

Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks

Heng Zhang, Gokhan Solak, Sebastian Hjorth, Arash Ajoudani

arXiv preprint

DOI

2025

Convexity of chance constraints for elliptical and skewed distributions with copula structures dependent on decision variables

Heng Zhang, Abdel Lisser

arXiv preprint

2025

OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation

Heng Zhang, Wei-Hsing Huang, Gokhan Solak, Arash Ajoudani

arXiv preprint

2025

Scaling Laws in Scientific Discovery with AI and Robot Scientists

Pengsong Zhang, Heng Zhang, Huazhe Xu, Renjun Xu, Zhenting Wang, Cong Wang, Animesh Garg, Zhibin Li, Arash Ajoudani, Xinyu Liu

arXiv preprint

2025

aiXiv: A Next-Generation Open Access Ecosystem for Scientific Discovery Generated by AI Scientists

Pengsong Zhang, Xiang Hu, Guowei Huang, Yang Qi, Heng Zhang, Xiuxu Li, Jiaxing Song, Jiabin Luo, Yijiang Li, Shuo Yin, Chengxiao Dai, Eric Hanchen Jiang, Xiaoyan Zhou, Zhenfei Yin, Boqin Yuan, Jing Dong, Guinan Su, Guanren Qiao, Haiming Tang, Anghong Du, Lili Pan, Zhenzhong Lan, Xinyu Liu

arXiv preprint

2025

A Survey on Imitation Learning for Contact-Rich Tasks in Robotics

Toshiaki Tsuji, Yasuhiro Kato, Gokhan Solak, Heng Zhang, Tadej Petrič, Francesco Nori, Arash Ajoudani

arXiv preprint

2025

ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation

Sheng Liu, Zhe Li, Weiheng Wang, Han Sun, Heng Zhang, Hongpeng Chen, Yusen Qin, Arash Ajoudani, Yizhao Wang

arXiv preprint

2024

Weak Closed-loop Solvability of Linear Quadratic Stochastic Optimal Control Problems with Partial Information

Xun Li, Guangchen Wang, Jie Xiong, Heng Zhang

arXiv preprint

2024

SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks

Heng Zhang, Gokhan Solak, Gustavo J. G. Lahr, Arash Ajoudani

arXiv preprint

DOI

2024

Two system transformation data-driven algorithms for linear quadratic mean-field games

Xun Li, Guangchen Wang, Yu Wang, Jie Xiong, Heng Zhang

arXiv preprint

2022

Data-driven policy iteration algorithm for continuous-time stochastic linear-quadratic optimal control problems

Heng Zhang, Na Li

arXiv preprint

2022

Adaptive dynamic programming-based algorithm for infinite-horizon linear quadratic stochastic optimal control problems

Heng Zhang

arXiv preprint

2022

A Novel Semi-Coupled Hierarchical Motion Planning Framework for Cooperative Transportation of Multiple Mobile Manipulators

Heng Zhang, Haoyi Song, Wenhang Liu, Xinjun Sheng, Zhenhua Xiong, Xiangyang Zhu

arXiv preprint

DOI

2022

A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints

Wenhang Liu, Jiawei Hu, Heng Zhang, Michael Yu Wang, Zhenhua Xiong

arXiv preprint

2022

Zeroth-Order Stochastic Coordinate Methods for Decentralized Non-convex Optimization

Shengjun Zhang, Tan Shen, Hongwei Sun, Yunlong Dong, Dong Xie, Heng Zhang

arXiv preprint

2022

Model-free Value Iteration Algorithm for Continuous-time Stochastic Linear Quadratic Optimal Control Problems

Guangchen Wang, Heng Zhang

arXiv preprint

2021

Multi-Robot Object Transport Motion Planning with a Deformable Sheet

Jiawei Hu, Wenhang Liu, Heng Zhang, Jingang Yi, Zhenhua Xiong

arXiv preprint

2021

Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

Yingbai Hu, Jian Li, Yongquan Chen, Qiwen Wang, Chuliang Chi, Heng Zhang, Qing Gao, Yuanmin Lan, Zheng Li, Zonggao Mu, Zhenglong Sun, Alois Knoll

arXiv preprint

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