Energy-Based Imitation Learning. - Minghuan Liu; Tairan He; Minkai Xu; Weinan Zhang 001 (AAMAS, 2021)

Model-free Safe Control for Zero-Violation Reinforcement Learning. - Weiye Zhao; Tairan He; Changliu Liu (CoRL, 2021)

Reinforcement Learning with Automated Auxiliary Loss Search. - Tairan He; Yuge Zhang; Kan Ren; Minghuan Liu; Che Wang; Weinan Zhang 001; Yuqing Yang 001; Dongsheng Li 002 (NeurIPS, 2022)

AutoCost: Evolving Intrinsic Cost for Zero-Violation Reinforcement Learning. - Tairan He; Weiye Zhao; Changliu Liu (AAAI, 2023)

Safety Index Synthesis via Sum-of-Squares Programming. - Weiye Zhao; Tairan He; Tianhao Wei; Simin Liu; Changliu Liu (ACC, 2023)

Visual Imitation Learning with Patch Rewards. - Minghuan Liu; Tairan He; Weinan Zhang 001; Shuicheng Yan; Zhongwen Xu (ICLR, 2023)

State-wise Safe Reinforcement Learning: A Survey. - Weiye Zhao; Tairan He; Rui Chen 030; Tianhao Wei; Changliu Liu (IJCAI, 2023)

Probabilistic Safeguard for Reinforcement Learning Using Safety Index Guided Gaussian Process Models. - Weiye Zhao; Tairan He; Changliu Liu (L4DC, 2023)

Progressive Adaptive Chance-Constrained Safeguards for Reinforcement Learning. - Zhaorun Chen; Binhao Chen; Tairan He; Liang Gong; Chengliang Liu (CoRR, 2023)

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning. - Tairan He; Zhengyi Luo 002; Xialin He; Wenli Xiao; Chong Zhang; Weinan Zhang 001; Kris M. Kitani; Changliu Liu; Guanya Shi (CoRL, 2024)

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts. - Chong Zhang; Wenli Xiao; Tairan He; Guanya Shi (CoRL, 2024)

Safe Deep Policy Adaptation. - Wenli Xiao; Tairan He; John M. Dolan; Guanya Shi (ICRA, 2024)

Safe Reinforcement Learning via Hierarchical Adaptive Chance-Constraint Safeguards. - Zhaorun Chen; Zhuokai Zhao; Tairan He; Binhao Chen; Xuhao Zhao; Liang Gong; Chengliang Liu (IROS, 2024)

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. - Tairan He; Zhengyi Luo 002; Wenli Xiao; Chong Zhang; Kris Kitani; Changliu Liu; Guanya Shi (IROS, 2024)

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion. - Tairan He; Chong Zhang; Wenli Xiao; Guanqi He; Changliu Liu; Guanya Shi (Robotics: Science and Systems, 2024)

Implicit Safe Set Algorithm for Provably Safe Reinforcement Learning. - Weiye Zhao; Tairan He; Feihan Li; Changliu Liu (CoRR, 2024)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots. - Tairan He; Wenli Xiao; Toru Lin; Zhengyi Luo 002; Zhenjia Xu; Zhenyu Jiang 002; Jan Kautz; Changliu Liu; Guanya Shi; Xiaolong Wang 004; Linxi Fan; Yuke Zhu (CoRR, 2024)

Bridging Adaptivity and Safety: Learning Agile Collision-Free Locomotion Across Varied Physics. - Yichao Zhong; Chong Zhang; Tairan He; Guanya Shi (L4DC, 2025)

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills. - Tairan He; Jiawei Gao; Wenli Xiao; Yuanhang Zhang; Zi Wang; Jiashun Wang; Zhengyi Luo 002; Guanqi He; Nikhil Sobanbab; Chaoyi Pan; Zeji Yi; Guannan Qu; et al. (CoRR, 2025)

Humanoid Policy Human Policy. - Ri-Zhao Qiu; Shiqi Yang; Xuxin Cheng; Chaitanya Chawla; Jialong Li 003; Tairan He; Ge Yan; David J. Yoon; Ryan Hoque; Lars Paulsen; Ge Yang; Jian Zhang; et al. (CoRR, 2025)

FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation. - Yuanhang Zhang; Yifu Yuan; Prajwal Gurunath; Tairan He; Shayegan Omidshafiei; Ali-akbar Agha-mohammadi; Marcell Vazquez-Chanlatte; Liam Pedersen; Guanya Shi (CoRR, 2025)

Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning. - Zhengyi Luo 002; Chen Tessler; Toru Lin; Ye Yuan 007; Tairan He; Wenli Xiao; Yunrong Guo; Gal Chechik; Kris Kitani; Linxi Fan; Yuke Zhu (CoRR, 2025)

Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning. - Nikhil Sobanbabu; Guanqi He; Tairan He; Yuxiang Yang; Guanya Shi (CoRR, 2025)

Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control. - Yitang Li; Yuanhang Zhang; Wenli Xiao; Chaoyi Pan; Haoyang Weng; Guanqi He; Tairan He; Guanya Shi (CoRR, 2025)