Simulation-based design of dynamic controllers for humanoid balancing. - Jie Tan 001; Zhaoming Xie; Byron Boots; C. Karen Liu (IROS, 2016)

Differential dynamic programming with nonlinear constraints. - Zhaoming Xie; C. Karen Liu; Kris Hauser (ICRA, 2017)

Feedback Control For Cassie With Deep Reinforcement Learning. - Zhaoming Xie; Glen Berseth; Patrick Clary; Jonathan W. Hurst; Michiel van de Panne (IROS, 2018)

Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRL, 2019)

On Learning Symmetric Locomotion. - Farzad Abdolhosseini; Hung Yu Ling; Zhaoming Xie; Xue Bin Peng; Michiel van de Panne (MIG, 2019)

Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRR, 2019)

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)

Learning to Correspond Dynamical Systems. - Nam Hee Kim; Zhaoming Xie; Michiel van de Panne (L4DC, 2020)

ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills. - Zhaoming Xie; Hung Yu Ling; Nam Hee Kim; Michiel van de Panne (Comput. Graph. Forum, 2020)

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

Flexible Motion Optimization with Modulated Assistive Forces. - Nam Hee Kim; Hung Yu Ling; Zhaoming Xie; Michiel van de Panne (Proc. ACM Comput. Graph. Interact. Tech., 2021)

Learning Soccer Juggling Skills with Layer-wise Mixture-of-Experts. - Zhaoming Xie; Sebastian Starke; Hung Yu Ling; Michiel van de Panne (SIGGRAPH (Conference Paper Track), 2022)

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)

OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors. - Yuni Fuchioka; Zhaoming Xie; Michiel van de Panne (ICRA, 2023)

Learning Bipedal Walking for Humanoids With Current Feedback. - Rohan P. Singh; Zhaoming Xie; Pierre Gergondet; Fumio Kanehiro (IEEE Access, 2023)

Hierarchical Planning and Control for Box Loco-Manipulation. - Zhaoming Xie; Jonathan Tseng; Sebastian Starke; Michiel van de Panne; C. Karen Liu (Proc. ACM Comput. Graph. Interact. Tech., 2023)

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning. - Rohan P. Singh; Mitsuharu Morisawa; Mehdi Benallegue; Zhaoming Xie; Fumio Kanehiro (Humanoids, 2024)

Learning to Design 3D Printable Adaptations on Everyday Objects for Robot Manipulation. - Michelle Guo; Ziang Liu 008; Stephen Tian; Zhaoming Xie; Jiajun Wu 001; C. Karen Liu (ICRA, 2024)

PDP: Physics-Based Character Animation via Diffusion Policy. - Takara Everest Truong; Michael Piseno; Zhaoming Xie; C. Karen Liu (SIGGRAPH Asia, 2024)

Learning-based legged locomotion: State of the art and future perspectives. - Sehoon Ha; Joonho Lee; Michiel van de Panne; Zhaoming Xie; Wenhao Yu 003; Majid Khadiv (Int. J. Robotics Res., 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)