Toward A Ballbot for Physically Leading People: A Human-Centered Approach. - Zhongyu Li 003; Ralph Hollis (IROS, 2019)

Animated Cassie: A Dynamic Relatable Robotic Character. - Zhongyu Li 003; Christine Cummings; Koushil Sreenath (IROS, 2020)

Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. - Jun Zeng 002; Bike Zhang; Zhongyu Li 003; Koushil Sreenath (ACC, 2021)

Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. - Scott Gilroy; Derek Lau; Lizhi Yang; Ed Izaguirre; Kristen Biermayer; Anxing Xiao; Mengti Sun; Ayush Agrawal; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CASE, 2021)

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. - Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (CDC, 2021)

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. - Zhongyu Li 003; Xuxin Cheng; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (ICRA, 2021)

Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. - Anxing Xiao; Wenzhe Tong; Lizhi Yang; Jun Zeng 002; Zhongyu Li 003; Koushil Sreenath (ICRA, 2021)

Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (CoRR, 2021)

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. - Gilbert Feng; Hongbo Zhang; Zhongyu Li 003; Xue Bin Peng; Bhuvan Basireddy; Linzhu Yue; Zhitao Song; Lizhi Yang; Yunhui Liu 001; Koushil Sreenath; Sergey Levine (CoRL, 2022)

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. - Lizhi Yang; Zhongyu Li 003; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. - Yandong Ji; Zhongyu Li 003; Yinan Sun; Xue Bin Peng; Sergey Levine; Glen Berseth; Koushil Sreenath (IROS, 2022)

Adapting Rapid Motor Adaptation for Bipedal Robots. - Ashish Kumar 007; Zhongyu Li 003; Jun Zeng 002; Deepak Pathak; Koushil Sreenath; Jitendra Malik (IROS, 2022)

Teaching Robots to Span the Space of Functional Expressive Motion. - Arjun Sripathy; Andreea Bobu; Zhongyu Li 003; Koushil Sreenath; Daniel S. Brown; Anca D. Dragan (IROS, 2022)

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. - Zhongyu Li 003; Jun Zeng 002; Akshay Thirugnanam; Koushil Sreenath (Robotics: Science and Systems, 2022)

Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. - Chenyu Yang; Guo Ning Sue; Zhongyu Li 003; Lizhi Yang; Haotian Shen; Yufeng Chi; Akshara Rai; Jun Zeng 002; Koushil Sreenath (IEEE Robotics Autom. Lett., 2022)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Yihan Li; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CDC, 2023)

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. - Xiaoyu Huang; Zhongyu Li 003; Yanzhen Xiang; Yiming Ni; Yufeng Chi; Yunhao Li; Lizhi Yang; Xue Bin Peng; Koushil Sreenath (IROS, 2023)

Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. - Qiayuan Liao; Zhongyu Li 003; Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (IROS, 2023)

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Robotics: Science and Systems, 2023)

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (CoRR, 2023)

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. - Yifan Zeng; Suiyi He; Han Hoang Nguyen; Zhongyu Li 003; Koushil Sreenath; Jun Zeng 002 (CoRR, 2023)

Autonomous navigation of underactuated bipedal robots in height-constrained environments. - Zhongyu Li 003; Jun Zeng 002; Shuxiao Chen; Koushil Sreenath (Int. J. Robotics Res., 2023)

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. - Xiaoyu Huang; Yufeng Chi; Ruofeng Wang; Zhongyu Li 003; Xue Bin Peng; Yakun Sophia Shao; Borivoje Nikolic; Koushil Sreenath (CoRL, 2024)

Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. - Zhengmao He; Kun Lei; Yanjie Ze; Koushil Sreenath; Zhongyu Li 003; Huazhe Xu (IROS, 2024)

HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. - Xiaoyu Huang; Qiayuan Liao; Yiming Ni; Zhongyu Li 003; Laura M. Smith; Sergey Levine; Xue Bin Peng; Koushil Sreenath (IROS, 2024)

Leveraging Symmetry in RL-based Legged Locomotion Control. - Zhi Su; Xiaoyu Huang; Daniel Felipe Ordoñez Apraez; Yunfei Li 005; Zhongyu Li 003; Qiayuan Liao; Giulio Turrisi; Massimiliano Pontil; Claudio Semini; Yi Wu 013; Koushil Sreenath (IROS, 2024)

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. - Yutao Ouyang; Jinhan Li; Yunfei Li 005; Zhongyu Li 003; Chao Yu 005; Koushil Sreenath; Yi Wu 013 (CoRR, 2024)

Berkeley Humanoid: A Research Platform for Learning-based Control. - Qiayuan Liao; Bike Zhang; Xuanyu Huang; Xiaoyu Huang; Zhongyu Li 003; Koushil Sreenath (CoRR, 2024)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. - Kanghyun Ryu; Qiayuan Liao; Zhongyu Li 003; Koushil Sreenath; Negar Mehr (CoRR, 2024)

Traversability-Aware Legged Navigation by Learning from Real-World Visual Data. - Hongbo Zhang; Zhongyu Li 003; Xuanqi Zeng; Laura M. Smith; Kyle Stachowicz; Dhruv Shah; Linzhu Yue; Zhitao Song; Weipeng Xia; Sergey Levine; Koushil Sreenath; Yun-hui Liu (CoRR, 2024)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. - Zixuan Chen; Xialin He; Yen-Jen Wang; Qiayuan Liao; Yanjie Ze; Zhongyu Li 003; S. Shankar Sastry; Jiajun Wu 001; Koushil Sreenath; Saurabh Gupta; Xue Bin Peng (CoRR, 2024)

Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation. - Cunxi Dai; Xiaohan Liu; Koushil Sreenath; Zhongyu Li 003; Ralph Hollis (CoRR, 2024)

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains. - Linzhu Yue; Zhitao Song; Jinhu Dong; Zhongyu Li 003; Hongbo Zhang; Lingwei Zhang 004; Xuanqi Zeng; Koushil Sreenath; Yunhui Liu 001 (CoRR, 2024)

Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Int. J. Robotics Res., 2025)

Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL. - Wen-Tse Chen; Minh Nguyen; Zhongyu Li 003; Guo Ning Sue; Koushil Sreenath (CoRR, 2025)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot. - Yufeng Chi; Qiayuan Liao; Junfeng Long; Xiaoyu Huang; Yakun Sophia Shao; Borivoje Nikolic; Zhongyu Li 003; Koushil Sreenath (CoRR, 2025)

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning. - Yiyang Shao; Xiaoyu Huang; Bike Zhang; Qiayuan Liao; Yuman Gao; Yufeng Chi; Zhongyu Li 003; Yakun Sophia Shao; Koushil Sreenath (CoRR, 2025)

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams. - Zhi Su; Yuman Gao; Emily Lukas; Yunfei Li 005; Jiaze Cai; Faris Tulbah; Fei Gao; Chao Yu 005; Zhongyu Li 003; Yi Wu 013; Koushil Sreenath (CoRR, 2025)