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

Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. - Shunpeng Yang; Hua Chen 007; Luyao Zhang; Zhefeng Cao; Patrick M. Wensing; Yizhang Liu; Jianxin Pang; Wei Zhang 013 (ICRA, 2021)

Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots. - Qiayuan Liao; Zhefeng Cao; Hua Chen 007; Wei Zhang 013 (CoRR, 2022)

Xiaotian-Hybrid: A Novel Wheeled-Quadruped Platform. - Taiheng Ren; Zhefeng Cao; Hua Chen 007; Wei Zhang 013 (ICMRE, 2023)

Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds. - Zhefeng Cao; Hua Chen 007; Sen Li; Wei Zhang 013 (ROBIO, 2023)

An Augmented Lagrangian Perspective on Differential Flatness-Based Control of Dual Spring-Loaded Inverted Pendulum Model. - Zhefeng Cao; Zejun Hong; Hua Chen 007 (IEEE Control. Syst. Lett., 2024)

G-DReaM: Graph-conditioned Diffusion Retargeting across Multiple Embodiments. - Zhefeng Cao; Ben Liu; Sen Li; Wei Zhang 013; Hua Chen 007 (CoRR, 2025)

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion. - Shunpeng Yang; Zhen Fu; Zhefeng Cao; Junde Guo; Patrick M. Wensing; Wei Zhang 013; Hua Chen 007 (CoRR, 2025)