Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots. - Qiayuan Liao; Zhefeng Cao; Hua Chen 007; Wei Zhang 013 (CoRR, 2022)

Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. - Qiayuan Liao; Zhongyu Li 003; Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (IROS, 2023)

HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. - Xiaoyu Huang; Qiayuan Liao; Yiming Ni; Zhongyu Li 003; Laura M. Smith; Sergey Levine; Xue Bin Peng; Koushil Sreenath (IROS, 2024)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li 005; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

Berkeley Humanoid: A Research Platform for Learning-based Control. - Qiayuan Liao; Bike Zhang; Xuanyu Huang; Xiaoyu Huang; Zhongyu Li 003; Koushil Sreenath (CoRR, 2024)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. - Kanghyun Ryu; Qiayuan Liao; Zhongyu Li 003; Koushil Sreenath; Negar Mehr (CoRR, 2024)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. - Zixuan Chen; Xialin He; Yen-Jen Wang; Qiayuan Liao; Yanjie Ze; Zhongyu Li 003; S. Shankar Sastry; Jiajun Wu 001; Koushil Sreenath; Saurabh Gupta; Xue Bin Peng (CoRR, 2024)

MuJoCo Playground. - Kevin Zakka; Baruch Tabanpour; Qiayuan Liao; Mustafa Haiderbhai; Samuel Holt; Jing Yuan Luo; Arthur Allshire; Erik Frey; Koushil Sreenath; Lueder A. Kahrs; Carmelo Sferrazza; Yuval Tassa; et al. (CoRR, 2025)

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories. - Jean-Baptiste Bouvier; Kanghyun Ryu; Kartik Nagpal; Qiayuan Liao; Koushil Sreenath; Negar Mehr (CoRR, 2025)

RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation. - Philipp Wu; Yide Shentu; Qiayuan Liao; Ding Jin; Menglong Guo; Koushil Sreenath; Xingyu Lin; Pieter Abbeel (CoRR, 2025)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot. - Yufeng Chi; Qiayuan Liao; Junfeng Long; Xiaoyu Huang; Yakun Sophia Shao; Borivoje Nikolic; Zhongyu Li 003; Koushil Sreenath (CoRR, 2025)

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning. - Yiyang Shao; Xiaoyu Huang; Bike Zhang; Qiayuan Liao; Yuman Gao; Yufeng Chi; Zhongyu Li 003; Yakun Sophia Shao; Koushil Sreenath (CoRR, 2025)

LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction. - Haoru Xue; Xiaoyu Huang; Dantong Niu; Qiayuan Liao; Thomas Kragerud; Jan Tommy Gravdahl; Xue Bin Peng; Guanya Shi; Trevor Darrell; Koushil Sreenath; S. Shankar Sastry (CoRR, 2025)

BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion. - Qiayuan Liao; Takara E. Truong; Xiaoyu Huang; Guy Tevet; Koushil Sreenath; C. Karen Liu (CoRR, 2025)