Automatic Gait Pattern Selection for Legged Robots. - Jiayi Wang 009; Iordanis Chatzinikolaidis; Carlos Mastalli; Wouter Wolfslag; Guiyang Xin; Steve Tonneau; Sethu Vijayakumar (IROS, 2020)

Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. - Jiayi Wang 009; Sanghyun Kim; Sethu Vijayakumar; Steve Tonneau (HUMANOIDS, 2021)

Learning to Guide Online Multi-Contact Receding Horizon Planning. - Jiayi Wang 009; Teguh Santoso Lembono; Sanghyun Kim; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (IROS, 2022)

Online Multi-Contact Receding Horizon Planning via Value Function Approximation. - Jiayi Wang 009; Sanghyun Kim; Teguh Santoso Lembono; Wenqian Du 004; Jaehyun Shim; Saeid Samadi; Ke Wang 055; Vladimir Ivan; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (CoRR, 2023)

NAS: N-step computation of All Solutions to the footstep planning problem. - Jiayi Wang 009; Saeid Samadi; Hefan Wang; Pierre Fernbach; Olivier Stasse; Sethu Vijayakumar; Steve Tonneau (Humanoids, 2024)

An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation. - Wenqian Du 004; Ran Long; João Moura 003; Jiayi Wang 009; Saeid Samadi; Sethu Vijayakumar (CoRR, 2024)

Online Multicontact Receding Horizon Planning via Value Function Approximation. - Jiayi Wang 009; Sanghyun Kim; Teguh Santoso Lembono; Wenqian Du 001; Jaehyun Shim; Saeid Samadi; Ke Wang 055; Vladimir Ivan; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (IEEE Trans. Robotics, 2024)

Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots. - Jiayang Wu; Jiongye Li; Shibowen Zhang; Zhicheng He 002; Zaijin Wang; Xiaokun Leng 001; Hangxin Liu; Jingwen Zhang; Jiayi Wang 009; Song-Chun Zhu; Yao Su 001 (CoRR, 2025)

ECO: Energy-Constrained Optimization With Reinforcement Learning for Humanoid Walking. - Weidong Huang 011; Jingwen Zhang; Jiongye Li; Shibowen Zhang; Jiayang Wu; Jiayi Wang 009; Hangxin Liu; Yaodong Yang 001; Yao Su 001 (IEEE Trans Autom. Sci. Eng., 2026)

CASSR: Continuous A-Star Search through Reachability for real time footstep planning. - Jiayi Wang 009; Steve Tonneau (CoRR, 2026)

Dynamic Whole-Body Dancing with Humanoid Robots - A Model-Based Control Approach. - Shibowen Zhang; Jiayang Wu; Guannan Liu; Helin Zhu; Junjie Liu; Zhehan Li; Junhong Guo; Xiaokun Leng 001; Hangxin Liu; Jingwen Zhang; Jikai Wang; Zonghai Chen; et al. (CoRR, 2026)