Minimalistic, dynamic, tube climbing robot. - Amir Degani; Siyuan Feng 003; Howie Choset; Matthew T. Mason (ICRA, 2010)

The ParkourBot - a dynamic BowLeg climbing robot. - Amir Degani; Siyuan Feng 003; H. Benjamin Brown; Kevin M. Lynch; Howie Choset; Matthew T. Mason (ICRA, 2011)

Optimization based full body control for the atlas robot. - Siyuan Feng 003; Eric C. Whitman; X. Xinjilefu 001; Christopher G. Atkeson (Humanoids, 2014)

Decoupled state estimation for humanoids using full-body dynamics. - X. Xinjilefu 001; Siyuan Feng 003; Weiwei Huang; Christopher G. Atkeson (ICRA, 2014)

Dynamic state estimation using Quadratic Programming. - X. Xinjilefu 001; Siyuan Feng 003; Christopher G. Atkeson (IROS, 2014)

Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot. - Amir Degani; Andrew W. Long; Siyuan Feng 003; H. Benjamin Brown; Robert D. Gregg; Howie Choset; Matthew T. Mason; Kevin M. Lynch (IEEE Trans. Robotics, 2014)

No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge. - Christopher G. Atkeson; Benzun P. Wisely Babu; Nandan Banerjee; Dmitry Berenson; Christoper P. Bove; Xiongyi Cui; Mathew DeDonato; Ruixiang Du; Siyuan Feng 003; Perry Franklin; Michael A. Gennert; Joshua P. Graff; et al. (Humanoids, 2015)

Human-supervised control of the ATLAS humanoid robot for traversing doors. - Nandan Banerjee; Xianchao Long; Ruixiang Du; Felipe Polido; Siyuan Feng 003; Christopher G. Atkeson; Michael A. Gennert; Taskin Padir (Humanoids, 2015)

Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals. - Siyuan Feng 003; X. Xinjilefu 001; Christopher G. Atkeson; Joohyung Kim (Humanoids, 2015)

Full-body motion planning and control for the car egress task of the DARPA robotics challenge. - Chenggang Liu; Christopher G. Atkeson; Siyuan Feng 003; X. Xinjilefu 001 (Humanoids, 2015)

Center of mass estimator for humanoids and its application in modelling error compensation, fall detection and prevention. - X. Xinjilefu 001; Siyuan Feng 003; Christopher G. Atkeson (Humanoids, 2015)

Human-in-the-loop Control of a Humanoid Robot for Disaster Response: A Report from the DARPA Robotics Challenge Trials. - Mathew DeDonato; Velin D. Dimitrov; Ruixiang Du; Ryan Giovacchini; Kevin Knoedler; Xianchao Long; Felipe Polido; Michael A. Gennert; Taskin Padir; Siyuan Feng 003; Hirotaka Moriguchi; Eric C. Whitman; et al. (J. Field Robotics, 2015)

Optimization-based Full Body Control for the DARPA Robotics Challenge. - Siyuan Feng 003; Eric C. Whitman; X. Xinjilefu 001; Christopher G. Atkeson (J. Field Robotics, 2015)

A distributed MEMS gyro network for joint velocity estimation. - X. Xinjilefu 001; Siyuan Feng 003; Christopher G. Atkeson (ICRA, 2016)

Robust dynamic walking using online foot step optimization. - Siyuan Feng 003; X. Xinjilefu 001; Christopher G. Atkeson; Joohyung Kim (IROS, 2016)

Online Hierarchical Optimization for Humanoid Control. - Siyuan Feng 003 (2016)

Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge. - Mathew DeDonato; Felipe Polido; Kevin Knoedler; Benzun P. Wisely Babu; Nandan Banerjee; Christoper P. Bove; Xiongyi Cui; Ruixiang Du; Perry Franklin; Joshua P. Graff; Peng He; Aaron Jaeger; et al. (J. Field Robotics, 2017)

Self-supervised Semantic-driven Phoneme Discovery for Zero-resource Speech Recognition. - Liming Wang 003; Siyuan Feng 003; Mark Hasegawa-Johnson; Chang Dong Yoo (ACL (1), 2022)

DextAIRity: Deformable Manipulation Can be a Breeze. - Zhenjia Xu; Cheng Chi; Benjamin Burchfiel; Eric Cousineau; Siyuan Feng 003; Shuran Song (Robotics: Science and Systems, 2022)

Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice. - Duy-Nguyen Ta; Eric Cousineau; Huihua Zhao; Siyuan Feng 003 (CoRR, 2022)

Key Areas of Ecological Restoration in Inner Mongolia Based on Ecosystem Vulnerability and Ecosystem Service. - Siyuan Feng 003; Xin Liu; Wenwu Zhao; Ying Yao; Ao Zhou; Xiaoxing Liu; Paulo Pereira (Remote. Sens., 2022)

Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation. - Alper Canberk; Cheng Chi; Huy Ha; Benjamin Burchfiel; Eric Cousineau; Siyuan Feng 003; Shuran Song (ICRA, 2023)

Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects. - Arpit Bahety; Shreeya Jain; Huy Ha; Nathalie Hager; Benjamin Burchfiel; Eric Cousineau; Siyuan Feng 003; Shuran Song (IROS, 2023)

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion. - Cheng Chi; Siyuan Feng 003; Yilun Du; Zhenjia Xu; Eric Cousineau; Benjamin Burchfiel; Shuran Song (Robotics: Science and Systems, 2023)

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots. - Cheng Chi; Zhenjia Xu; Chuer Pan; Eric Cousineau; Benjamin Burchfiel; Siyuan Feng 003; Russ Tedrake; Shuran Song (Robotics: Science and Systems, 2024)

Robot Learning as an Empirical Science: Best Practices for Policy Evaluation. - Hadas Kress-Gazit; Kunimatsu Hashimoto; Naveen Kuppuswamy; Paarth Shah; Phoebe Horgan; Gordon Richardson; Siyuan Feng 003; Benjamin Burchfiel (CoRR, 2024)

Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control. - Yifan Hou; Zeyi Liu; Cheng Chi; Eric Cousineau; Naveen Kuppuswamy; Siyuan Feng 003; Benjamin Burchfiel; Shuran Song (CoRR, 2024)

Iterative residual policy: For goal-conditioned dynamic manipulation of deformable objects. - Cheng Chi; Benjamin Burchfiel; Eric Cousineau; Siyuan Feng 003; Shuran Song (Int. J. Robotics Res., 2024)

Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets. - Chuning Zhu; Raymond Yu; Siyuan Feng 003; Benjamin Burchfiel; Paarth Shah; Abhishek Gupta 004 (CoRR, 2025)

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies. - Jialiang Zhao; Naveen Kuppuswamy; Siyuan Feng 003; Benjamin Burchfiel; Edward H. Adelson (CoRR, 2025)

Geometry-aware 4D Video Generation for Robot Manipulation. - Zeyi Liu; Shuang Li; Eric Cousineau; Siyuan Feng 003; Benjamin Burchfiel; Shuran Song (CoRR, 2025)

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. - TRI LBM Team; Jose Barreiros; Andrew Beaulieu; Aditya Bhat; Rick Cory; Eric Cousineau; Hongkai Dai; Ching-Hsin Fang; Kunimatsu Hashimoto; Muhammad Zubair Irshad; Masha Itkina; Naveen Kuppuswamy; et al. (CoRR, 2025)