Nonlinear Covariance Control via Differential Dynamic Programming. - Zeji Yi; Zhefeng Cao; Evangelos A. Theodorou; Yongxin Chen (ACC, 2020)

Adaptive Learning based Upper-Limb Rehabilitation Training System with Collaborative Robot. - Jun Hong Lim; Kaibo He; Zeji Yi; Chen Hou; Chen Zhang; Yanan Sui; Luming Li (EMBC, 2023)

Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems. - Yunyue Wei; Zeji Yi; Hongda Li; Saraswati Soedarmadji; Yanan Sui (CoRL, 2024)

CoVO-MPC: Theoretical analysis of sampling-based MPC and optimal covariance design. - Zeji Yi; Chaoyi Pan; Guanqi He; Guannan Qu; Guanya Shi (L4DC, 2024)

Improving sample efficiency of high dimensional Bayesian optimization with MCMC. - Zeji Yi; Yunyue Wei; Chu Xin Cheng; Kaibo He; Yanan Sui (L4DC, 2024)

Model-based Diffusion for Trajectory Optimization. - Chaoyi Pan; Zeji Yi; Guanya Shi; Guannan Qu (NeurIPS, 2024)

Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing. - Haoru Xue; Chaoyi Pan; Zeji Yi; Guannan Qu; Guanya Shi (CoRR, 2024)

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)

Whole-Body Model-Predictive Control of Legged Robots with MuJoCo. - John Z. Zhang; Taylor A. Howell; Zeji Yi; Chaoyi Pan; Guanya Shi; Guannan Qu; Tom Erez; Yuval Tassa; Zachary Manchester (CoRR, 2025)