The AKSZ construction was developed as a geometrical formalism to find the solution to the classical master equation in the BV quantization of topological branes based on the concept of QP manifolds. However, the formalism does not apply in presence of Wess-Zumino terms, as demonstrated recently by Ikeda and Strobl in the simplest example of WZW-Poisson sigma models. In this contribution, we review a class of topological field theories in arbitrary dimensions, the twisted R-Poisson sigma models, which suitably generalize Poisson or twisted Poisson sigma models. Their relation to differential graded manifolds and higher geometry is discussed and we sketch how to identify the solution to the classical master equation even though the target space does not have a QP structure.