Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller. - Shuo Yang; Zhaoyuan Gu; Ruohai Ge; Aaron M. Johnson 001; Matthew J. Travers; Howie Choset (CoRR, 2019)

State Estimation for Legged Robots Using Contact-Centric Leg Odometry. - Shuo Yang; Hans Kumar; Zhaoyuan Gu; Xiangyuan Zhang; Matthew J. Travers; Howie Choset (CoRR, 2019)

Adversary A3C for Robust Reinforcement Learning. - Zhaoyuan Gu; Zhenzhong Jia; Howie Choset (CoRR, 2019)

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

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

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)