SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. - Lizhi Yang; Blake Werner; Ryan K. Cosner; David Fridovich-Keil; Preston Culbertson; Aaron D. Ames (CoRR, 2025)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. - Lizhi Yang; Blake Werner; Adrian B. Ghansah; Aaron D. Ames (CoRR, 2025)