Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics. - Ziyi Zhou 004; Ye Zhao 002 (ACC, 2020)

Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics. - Lasitha Wijayarathne; Qie Sima; Ziyi Zhou 004; Ye Zhao 002; Frank L. Hammond (IROS, 2020)

SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments. - Zhigen Zhao; Ziyi Zhou 004; Michael Park; Ye Zhao 002 (IEEE Access, 2021)

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. - Hongwu Zhu; Dong Wang; Ganyu Deng; Nathan Boyd; Ziyi Zhou 004; Lecheng Ruan; Caiming Sun; Aidong Zhang; Ning Ding 003; Ye Zhao 002; Jianwen Luo 002 (CoRR, 2021)

Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System. - Ziyi Zhou 004; Dong Jae Lee; Yuki Yoshinaga; Dejun Guo; Ye Zhao 002 (CoRR, 2021)

Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. - Hongwu Zhu; Dong Wang; Nathan Boyd; Ziyi Zhou 004; Lecheng Ruan; Aidong Zhang; Ning Ding 003; Ye Zhao 002; Jianwen Luo 002 (Frontiers Robotics AI, 2021)

Agile Locomotion and Backflip Demonstrations on Mini Cheetah. - Ziyi Zhou 004; Nathan Boyd; Vishwa Ramkumar; Max Asselmeier; Ye Zhao 002 (ACC, 2022)

Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming. - Ziyi Zhou 004; Dong Jae Lee; Yuki Yoshinaga; Stephen Balakirsky; Dejun Guo; Ye Zhao 002 (CASE, 2022)

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion. - Ziyi Zhou 004; Bruce Wingo; Nathan Boyd; Seth Hutchinson 001; Ye Zhao 002 (IEEE Robotics Autom. Lett., 2022)

GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation. - Shiyu Feng; Ziyi Zhou 004; Justin S. Smith; Max Asselmeier; Ye Zhao 002; Patricio A. Vela (ICRA, 2023)

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation. - Lasitha Wijayarathne; Ziyi Zhou 004; Ye Zhao 002; Frank L. Hammond (IEEE Trans. Robotics, 2023)

Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal. - Max Asselmeier; Jane Ivanova; Ziyi Zhou 004; Patricio A. Vela; Ye Zhao 002 (ICRA, 2024)

A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches. - Zhigen Zhao; Shuo Cheng; Yan Ding 002; Ziyi Zhou 004; Shiqi Zhang 001; Danfei Xu; Ye Zhao 002 (CoRR, 2024)

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation. - Fukang Liu; Zhaoyuan Gu; Yilin Cai; Ziyi Zhou 004; Shijie Zhao; Hyunyoung Jung 002; Sehoon Ha; Yue Chen; Danfei Xu; Ye Zhao 002 (CoRR, 2024)

Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair. - Ziyi Zhou 004; Qian Meng; Hadas Kress-Gazit; Ye Zhao 002 (CoRR, 2025)

Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion. - Ziyi Zhou 004; Qian Meng; Hadas Kress-Gazit; Ye Zhao 002 (CoRR, 2025)