Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach. - Kendall Lowrey; Jeremy Dao; Emanuel Todorov (Humanoids, 2016)

Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system. - Kendall Lowrey; Svetoslav Kolev; Jeremy Dao; Aravind Rajeswaran; Emanuel Todorov (SIMPAR, 2018)

Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRL, 2019)

Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRR, 2019)

Learning Memory-Based Control for Human-Scale Bipedal Locomotion. - Jonah Siekmann; Srikar Valluri; Jeremy Dao; Lorenzo Bermillo; Helei Duan; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2020)

Learning Task Space Actions for Bipedal Locomotion. - Helei Duan; Jeremy Dao; Kevin Green; Taylor Apgar; Alan Fern; Jonathan W. Hurst (ICRA, 2021)

Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. - Kevin Green; Yesh Godse; Jeremy Dao; Ross L. Hatton; Alan Fern; Jonathan W. Hurst (IEEE Robotics Autom. Lett., 2021)

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. - Ryan Batke; Fangzhou Yu; Jeremy Dao; Jonathan W. Hurst; Ross L. Hatton; Alan Fern; Kevin Green (Humanoids, 2022)

Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. - Fangzhou Yu; Ryan Batke; Jeremy Dao; Jonathan W. Hurst; Kevin Green; Alan Fern (Humanoids, 2022)

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. - Jeremy Dao; Kevin Green; Helei Duan; Alan Fern; Jonathan W. Hurst (ICRA, 2022)

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. - Helei Duan; Ashish Malik; Jeremy Dao; Aseem Saxena; Kevin Green; Jonah Siekmann; Alan Fern; Jonathan W. Hurst (ICRA, 2022)

Learning Dynamic Bipedal Walking Across Stepping Stones. - Helei Duan; Ashish Malik; Mohitvishnu S. Gadde; Jeremy Dao; Alan Fern; Jonathan W. Hurst (IROS, 2022)

Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning. - Fangzhou Yu; Ryan Batke; Jeremy Dao; Jonathan W. Hurst; Kevin Green; Alan Fern (CoRR, 2022)

Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. - Devin Crowley; Jeremy Dao; Helei Duan; Kevin Green; Jonathan W. Hurst; Alan Fern (ICRA, 2023)

Learning Decentralized Multi-Biped Control for Payload Transport. - Bikram Pandit; Ashutosh Gupta; Mohitvishnu S. Gadde; Addison Johnson; Aayam Kumar Shrestha; Helei Duan; Jeremy Dao; Alan Fern (CoRL, 2024)

Sim-to-Real Learning for Humanoid Box Loco-Manipulation. - Jeremy Dao; Helei Duan; Alan Fern (ICRA, 2024)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain. - Helei Duan; Bikram Pandit; Mohitvishnu S. Gadde; Bart van Marum; Jeremy Dao; Chanho Kim; Alan Fern (ICRA, 2024)

Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking. - Bart van Marum; Aayam Shrestha; Helei Duan; Pranay Dugar; Jeremy Dao; Alan Fern (IROS, 2024)