Symmetric virtual constraints for periodic walking of legged robots. - Hamed Razavi; Anthony M. Bloch; Xingye Da; Auke Jan Ijspeert (CDC, 2016)

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. - Quan Nguyen 004; Xingye Da; J. W. Grizzle; Koushil Sreenath (WAFR, 2016)

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking. - Xingye Da; Omar Harib; Ross Hartley; Brent A. Griffin; Jessy W. Grizzle (IEEE Access, 2016)

Stabilization of 3D underactuated biped robots: Using posture adjustment and gait libraries to reject velocity disturbances. - Ross Hartley; Xingye Da; Jessy W. Grizzle (CCTA, 2017)

Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field. - Xingye Da; Ross Hartley; Jessy W. Grizzle (ICRA, 2017)

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. - Quan Nguyen 004; Ayush Agrawal; Xingye Da; William C. Martin; Hartmut Geyer; Jessy W. Grizzle; Koushil Sreenath (Robotics: Science and Systems, 2017)

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. - Yukai Gong; Ross Hartley; Xingye Da; Ayonga Hereid; Omar Harib; Jiunn-Kai Huang; Jessy W. Grizzle (ACC, 2019)

Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots. - Xingye Da; Jessy W. Grizzle (Int. J. Robotics Res., 2019)

Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking. - Yuan Gao 018; Xingye Da; Yan Gu 008 (ACC, 2020)

Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion. - Xingye Da; Zhaoming Xie; David Hoeller; Byron Boots; Anima Anandkumar; Yuke Zhu; Buck Babich; Animesh Garg (CoRL, 2020)

Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion. - Zhaoming Xie; Xingye Da; Michiel van de Panne; Buck Babich; Animesh Garg (ICRA, 2021)

GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model. - Zhaoming Xie; Xingye Da; Buck Babich; Animesh Garg; Michiel van de Panne (WAFR, 2022)

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots. - Johan Bjorck; Fernando Castañeda; Nikita Cherniadev; Xingye Da; Runyu Ding; Linxi; Yu Fang; Dieter Fox; Fengyuan Hu; Spencer Huang; Joel Jang; Zhenyu Jiang 002; et al. (CoRR, 2025)