Robust Stability Criterion for Discrete-Time Uncertain Markovian Jumping Neural Networks With Defective Statistics of Modes Transitions. - Ye Zhao 002; Lixian Zhang; Shen Shen; Huijun Gao (IEEE Trans. Neural Networks, 2011)

A three dimensional foot placement planner for locomotion in very rough terrains. - Ye Zhao 002; Luis Sentis (Humanoids, 2012)

Active Suspension Control With Frequency Band Constraints and Actuator Input Delay. - Weichao Sun; Ye Zhao 002; Jinfu Li 001; Lixian Zhang; Huijun Gao (IEEE Trans. Ind. Electron., 2012)

Phase space planning and robust control for data-driven locomotion behaviors. - Ye Zhao 002; Donghyun Kim 002; Benito R. Fernández; Luis Sentis (Humanoids, 2013)

Feedback parameter selection for impedance control of series elastic actuators. - Ye Zhao 002; Nicholas Paine; Luis Sentis (Humanoids, 2014)

Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. - Ye Zhao 002; Donghyun Kim 002; Gray C. Thomas; Luis Sentis (HSCC, 2015)

Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Luis Sentis (CoRR, 2015)

A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion. - Ye Zhao 002; Benito R. Fernández; Luis Sentis (CoRR, 2015)

Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers. - Ye Zhao 002; Nicholas Paine; Kwan-Suk Kim; Luis Sentis (IEEE Trans. Ind. Electron., 2015)

High-level planner synthesis for whole-body locomotion in unstructured environments. - Ye Zhao 002; Ufuk Topcu; Luis Sentis (CDC, 2016)

Passivity of time-delayed whole-body operational space control with series elastic actuation. - Ye Zhao 002; Luis Sentis (Humanoids, 2016)

Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies. - Ye Zhao 002; Benito R. Fernández; Luis Sentis (Robotics: Science and Systems, 2016)

Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Benito R. Fernández; Luis Sentis (IEEE Trans. Robotics, 2016)

Towards understanding visually guided locomotion over complex and rough terrain: A phase-space planning method. - Ye Zhao 002; Jonathan S. Matthis; Sean L. Barton; Mary M. Hayhoe; Luis Sentis (ARSO, 2017)

Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework. - Jianwen Luo 002; Ye Zhao 002; Donghyun Kim 002; Oussama Khatib; Luis Sentis (ROBIO, 2017)

Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model. - Ye Zhao 002; Benito R. Fernández; Luis Sentis (Int. J. Robotics Res., 2017)

Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation. - Ye Zhao 002; Luis Sentis (CoRR, 2018)

Variable stiffness control of series elastic actuated biped locomotion. - Jianwen Luo 002; Shuguo Wang; Ye Zhao 002; Yili Fu (Intell. Serv. Robotics, 2018)

Impedance Control and Performance Measure of Series Elastic Actuators. - Ye Zhao 002; Nicholas Paine; Steven Jens Jorgensen; Luis Sentis (IEEE Trans. Ind. Electron., 2018)

Robust Bipedal Locomotion Based on a Hierarchical Control Structure. - Jianwen Luo 002; Yao Su 001; Lecheng Ruan; Ye Zhao 002; Donghyun Kim 002; Luis Sentis; Chenglong Fu 001 (Robotica, 2019)

Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics. - Ziyi Zhou; Ye Zhao 002 (ACC, 2020)

Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain. - Jonas Warnke; Abdulaziz Shamsah; Yingke Li; Ye Zhao 002 (CDC, 2020)

Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics. - Lasitha Wijayarathne; Qie Sima; Ziyi Zhou; Ye Zhao 002; Frank L. Hammond (IROS, 2020)

Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion. - Xiaofeng Guo; Bryan Blaise; Jennifer L. Molnar; Jeremiah M. Coholich; Shantanu Padte; Ye Zhao 002; Frank L. Hammond III (RoboSoft, 2020)

Asynchronous observer design for switched linear systems: a tube-based approach. - Minghao Han; Ruixian Zhang; Lixian Zhang; Ye Zhao 002; Wei Pan 004 (IEEE CAA J. Autom. Sinica, 2020)

A non-periodic planning and control framework of dynamic legged locomotion. - Ye Zhao 002; Yan Gu (Int. J. Intell. Robotics Appl., 2020)

Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM. - Jianwen Luo 002; Yao Su 001; Lecheng Ruan; Ye Zhao 002; Donghyun Kim 002; Luis Sentis; Chenglong Fu 001 (Robotica, 2020)

Mass Estimation of a Moving Object Through Minimal Manipulation Interaction. - Sergio Aguilera; Muhammad Ali Murtaza; Ye Zhao 002; Seth Hutchinson 001 (ICRA, 2021)

SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments. - Zhigen Zhao; Ziyi Zhou; Michael Park; Ye Zhao 002 (IEEE Access, 2021)

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. - Hongwu Zhu; Dong Wang; Ganyu Deng; Nathan Boyd; Ziyi Zhou; Lecheng Ruan; Caiming Sun; Aidong Zhang; Ning Ding 003; Ye Zhao 002; Jianwen Luo 002 (CoRR, 2021)

High-Payload Online Identification and Adaptive Control for an Electrically-actuated Quadruped Robot. - Bingchen Jin; Shusheng Ye; Juntong Su; Chaoyang Song 001; Ye Zhao 002; Aidong Zhang; Ning Ding 003; Jianwen Luo 002 (CoRR, 2021)

Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System. - Ziyi Zhou; Dong Jae Lee; Yuki Yoshinaga; Dejun Guo; Ye Zhao 002 (CoRR, 2021)

Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments. - Abdulaziz Shamsah; Jonas Warnke; Zhaoyuan Gu; Ye Zhao 002 (CoRR, 2021)

Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer. - Yunhai Han; Rahul Batra; Nathan Boyd; Tuo Zhao; Yu She; Seth Hutchinson 001; Ye Zhao 002 (CoRR, 2021)

Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints. - Luke Drnach; John Z. Zhang; Ye Zhao 002 (Frontiers Robotics AI, 2021)

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. - Hongwu Zhu; Dong Wang; Nathan Boyd; Ziyi Zhou; Lecheng Ruan; Aidong Zhang; Ning Ding 003; Ye Zhao 002; Jianwen Luo 002 (Frontiers Robotics AI, 2021)

Robust Trajectory Optimization Over Uncertain Terrain With Stochastic Complementarity. - Luke Drnach; Ye Zhao 002 (IEEE Robotics Autom. Lett., 2021)

Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks. - Jianwen Luo 002; Zelin Gong; Yao Su 001; Lecheng Ruan; Ye Zhao 002; H. Harry Asada; Chenglong Fu 001 (IEEE Robotics Autom. Lett., 2021)

Safe Reinforcement Learning With Stability Guarantee for Motion Planning of Autonomous Vehicles. - Lixian Zhang; Ruixian Zhang; Tong Wu 013; Rui Weng; Minghao Han; Ye Zhao 002 (IEEE Trans. Neural Networks Learn. Syst., 2021)

Multi-Robot Collaboration with Heterogeneous Capabilities. - Yunhai Han; Nathan Boyd; Xinpei Ni; Ye Zhao 002 (ACC, 2022)

Agile Locomotion and Backflip Demonstrations on Mini Cheetah. - Ziyi Zhou; Nathan Boyd; Vishwa Ramkumar; Max Asselmeier; Ye Zhao 002 (ACC, 2022)

Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming. - Ziyi Zhou; Dong Jae Lee; Yuki Yoshinaga; Stephen Balakirsky; Dejun Guo; Ye Zhao 002 (CASE, 2022)

Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments. - Hongyi Chen; Shiyu Feng; Ye Zhao 002; Changliu Liu; Patricio A. Vela (CDC, 2022)

Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery. - Zhaoyuan Gu; Nathan Boyd; Ye Zhao 002 (ICRA, 2022)

Adversarially Regularized Policy Learning Guided by Trajectory Optimization. - Zhigen Zhao; Simiao Zuo; Tuo Zhao; Ye Zhao 002 (L4DC, 2022)

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution. - Michael Enqi Cao; Xinpei Ni; Jonas Warnke; Yunhai Han; Samuel Coogan 001; Ye Zhao 002 (SSRR, 2022)

Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments. - Max Asselmeier; Ye Zhao 002; Patricio A. Vela (CoRR, 2022)

Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction. - Jesse Jiang; Ye Zhao 002; Samuel Coogan 001 (IEEE Control. Syst. Lett., 2022)

Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments. - Ye Zhao 002; Yinan Li 001; Luis Sentis; Ufuk Topcu; Jun Liu 015 (Int. J. Robotics Res., 2022)

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion. - Ziyi Zhou; Bruce Wingo; Nathan Boyd; Seth Hutchinson 001; Ye Zhao 002 (IEEE Robotics Autom. Lett., 2022)

Estimation of CoM and CoP Trajectories During Human Walking Based on a Wearable Visual Odometry Device. - Jianwen Luo 002; Ye Zhao 002; Lecheng Ruan; Shixin Mao; Chenglong Fu 001 (IEEE Trans Autom. Sci. Eng., 2022)

On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills. - Yunhai Han; Mandy Xie; Ye Zhao 002; Harish Ravichandar (CoRL, 2023)

Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs. - Shuai Wang 007; Jingfan Zhang; Weiyi Kong; Chong Zhang; Jie Lai; Dongsheng Zhang; Chunyan Wang 008; Ke Chen; Zhaoyuan Gu; Ye Zhao 002; Ke Zhang; Yu Zheng 001 (ICAR, 2023)

GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation. - Shiyu Feng; Ziyi Zhou; Justin S. Smith; Max Asselmeier; Ye Zhao 002; Patricio A. Vela (ICRA, 2023)

Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion. - Ted Tyler; Vaibhav Malhotra; Adam Montague; Zhigen Zhao; Frank L. Hammond III; Ye Zhao 002 (CoRR, 2023)

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations. - Zhaoyuan Gu; Rongming Guo; William Yates; Yipu Chen; Ye Zhao 002 (CoRR, 2023)

Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion. - Abdulaziz Shamsah; Ye Zhao 002 (CoRR, 2023)

Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations. - Zhaoyuan Gu; Rongming Guo; William Yates; Yipu Chen; Ye Zhao 002 (CoRR, 2023)

MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedback. - Kelin Yu; Yunhai Han; Matthew Zhu; Ye Zhao 002 (CoRR, 2023)

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation. - Lasitha Wijayarathne; Ziyi Zhou; Ye Zhao 002; Frank L. Hammond (IEEE Trans. Robotics, 2023)

Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments. - Abdulaziz Shamsah; Zhaoyuan Gu; Jonas Warnke; Seth Hutchinson 001; Ye Zhao 002 (IEEE Trans. Robotics, 2023)

Local-Global Interval MDPs for Efficient Motion Planning with Learnable Uncertainty. - Jesse Jiang; Ye Zhao 002; Samuel Coogan 001 (ACC, 2024)

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation. - Kelin Yu; Yunhai Han; Qixian Wang; Vaibhav Saxena; Danfei Xu; Ye Zhao 002 (CoRL, 2024)

Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal. - Max Asselmeier; Jane Ivanova; Ziyi Zhou; Patricio A. Vela; Ye Zhao 002 (ICRA, 2024)

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations. - Zhaoyuan Gu; Rongming Guo; William Yates; Yipu Chen; Yuntian Zhao; Ye Zhao 002 (ICRA, 2024)

Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning. - Feiyang Wu; Zhaoyuan Gu; Hanran Wu; Anqi Wu; Ye Zhao 002 (ICRA, 2024)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability. - Kasidit Muenprasitivej; Jesse Jiang; Abdulaziz Shamsah; Samuel Coogan 001; Ye Zhao 002 (IROS, 2024)

LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications. - Jiming Ren; Haris Miller; Karen M. Feigh; Samuel Coogan 001; Ye Zhao 002 (IROS, 2024)

Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation. - Abdulaziz Shamsah; Krishanu Agarwal; Shreyas Kousik; Ye Zhao 002 (IROS, 2024)

Learn to Teach: Improve Sample Efficiency in Teacher-student Learning for Sim-to-Real Transfer. - Feiyang Wu; Zhaoyuan Gu; Ye Zhao 002; Anqi Wu (CoRR, 2024)

A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches. - Zhigen Zhao; Shuo Cheng; Yan Ding 002; Ziyi Zhou; Shiqi Zhang 001; Danfei Xu; Ye Zhao 002 (CoRR, 2024)

A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning. - Jesse Jiang; Samuel Coogan 001; Ye Zhao 002 (CoRR, 2024)

Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks. - Abdulaziz Shamsah; Jesse Jiang; Ziwon Yoon; Samuel Coogan 001; Ye Zhao 002 (CoRR, 2024)

Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow. - Xuan Lin; Jiming Ren; Samuel Coogan 001; Ye Zhao 002 (CoRR, 2024)

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation. - Fukang Liu; Zhaoyuan Gu; Yilin Cai; Ziyi Zhou; Shijie Zhao; Hyunyoung Jung 002; Sehoon Ha; Yue Chen; Danfei Xu; Ye Zhao 002 (CoRR, 2024)

Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control. - Abdulaziz Shamsah; Krishanu Agarwal; Nigam Katta; Abirath Raju; Shreyas Kousik; Ye Zhao 002 (IEEE Trans Autom. Sci. Eng., 2025)

Robust-Locomotion-By-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control. - Zhaoyuan Gu; Yuntian Zhao; Yipu Chen; Rongming Guo; Jennifer K. Leestma; Gregory S. Sawicki; Ye Zhao 002 (IEEE Trans. Robotics, 2025)

Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics. - Max Asselmeier; Ye Zhao 002; Patricio A. Vela (CoRR, 2025)

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning. - Zhaoyuan Gu; Junheng Li; Wenlan Shen; Wenhao Yu 003; Zhaoming Xie; Stephen McCrory; Xianyi Cheng; Abdulaziz Shamsah; Robert J. Griffin; C. Karen Liu; Abderrahmane Kheddar; Xue Bin Peng; et al. (CoRR, 2025)

Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair. - Ziyi Zhou; Qian Meng; Hadas Kress-Gazit; Ye Zhao 002 (CoRR, 2025)

Physics-informed Neural Network Predictive Control for Quadruped Locomotion. - Haolin Li; Yikang Chai; Bailin Lv; Lecheng Ruan; Hang Zhao; Ye Zhao 002; Jianwen Luo 002 (CoRR, 2025)

EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning. - Wei Zhu 028; Abirath Raju; Abdulaziz Shamsah; Anqi Wu; Seth A. Hutchinson; Ye Zhao 002 (CoRR, 2025)

PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization. - Hyunyoung Jung 002; Zhaoyuan Gu; Ye Zhao 002; Hae-Won Park 002; Sehoon Ha (CoRR, 2025)

Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition. - Jiming Ren; Xuan Lin; Roman Mineyev; Karen M. Feigh; Samuel Coogan 001; Ye Zhao 002 (CoRR, 2025)

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion Over Real-World Uneven Terrain. - Feiyang Wu; Xavier Nal; Jaehwi Jang; Wei Zhu 028; Zhaoyuan Gu; Anqi Wu; Ye Zhao 002 (IEEE Robotics Autom. Lett., 2025)