Qiayuan Liao

23 papers A* 2A 4Journal 17
YearRankTypeTitle / Venue / Authors
2026 J jnl
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization.
CoRR
Hanwen Wang, Qiayuan Liao, Bike Zhang, Kunzhao Ren, Koushil Sreenath, Xiaobin Xiong
2026 J jnl
mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning.
CoRR
Kevin Zakka, Qiayuan Liao, Brent Yi, Louis Le Lay, Koushil Sreenath, Pieter Abbeel
2025 A* conf
Berkeley Humanoid: A Research Platform for Learning-Based Control.
ICRA
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
2025 J jnl
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion.
CoRR
Qiayuan Liao, Takara E. Truong, Xiaoyu Huang, Guy Tevet, Koushil Sreenath, C. Karen Liu
2025 A* conf
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills Using Large Language Models.
ICRA
Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Payam Delgosha, Koushil Sreenath, Negar Mehr
2025 J jnl
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories.
CoRR
Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr
2025 J jnl
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot.
CoRR
Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Yakun Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath
2025 J jnl
HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning.
CoRR
Zhi Su, Bike Zhang, Nima Rahmanian, Yuman Gao, Qiayuan Liao, Caitlin Regan, Koushil Sreenath, S. Shankar Sastry
2025 J jnl
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning.
CoRR
Yiyang Shao, Xiaoyu Huang, Bike Zhang, Qiayuan Liao, Yuman Gao, Yufeng Chi, Zhongyu Li, Yakun Sophia Shao, Koushil Sreenath
2025 J jnl
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction.
CoRR
Haoru Xue, Xiaoyu Huang, Dantong Niu, Qiayuan Liao, Thomas Kragerud, Jan Tommy Gravdahl, Xue Bin Peng, Guanya Shi, Trevor Darrell, Koushil Sreenath, S. Shankar Sastry
2025 A conf
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies.
IROS
Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
2025 J jnl
MuJoCo Playground.
CoRR
Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A. Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
2025 J jnl
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation.
CoRR
Philipp Wu, Yide Shentu, Qiayuan Liao, Ding Jin, Menglong Guo, Koushil Sreenath, Xingyu Lin, Pieter Abbeel
2024 J jnl
Berkeley Humanoid: A Research Platform for Learning-based Control.
CoRR
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
2024 J jnl
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models.
CoRR
Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Koushil Sreenath, Negar Mehr
2024 A conf
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation.
IROS
Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath
2024 J jnl
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation.
CoRR
Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath
2024 J jnl
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies.
CoRR
Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
2024 A conf
Leveraging Symmetry in RL-based Legged Locomotion Control.
IROS
Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2024 J jnl
Leveraging Symmetry in RL-based Legged Locomotion Control.
CoRR
Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath
2023 A conf
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization.
IROS
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
2022 J jnl
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots.
CoRR
Qiayuan Liao, Zhefeng Cao, Hua Chen, Wei Zhang
2022 J jnl
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization.
CoRR
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath