Zhaoyuan Gu

23 papers A* 3Journal 19Unranked 1
YearRankTypeTitle / Venue / Authors
2026 J jnl
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning.
CoRR
Zhaoyuan Gu, Yipu Chen, Zimeng Chai, Alfred Cueva, Thong Nguyen, Yifan Wu, Huishu Xue, Minji Kim, Isaac Legene, Fukang Liu, Matthew Kim, Ayan Barula, Yongxin Chen, Ye Zhao
2025 J jnl
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning.
CoRR
Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert J. Griffin, C. Karen Liu, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao, Ye Zhao
2025 J jnl
Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion Over Real-World Uneven Terrain.
IEEE Robotics Autom. Lett.
Feiyang Wu, Xavier Nal, Jaehwi Jang, Wei Zhu, Zhaoyuan Gu, Anqi Wu, Ye Zhao
2025 J jnl
Opt2Skill: Imitating Dynamically-Feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
IEEE Robotics Autom. Lett.
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Hyunyoung Jung, Jaehwi Jang, Shijie Zhao, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2025 J jnl
PPF: Pre-Training and Preservative Fine-Tuning of Humanoid Locomotion via Model-Assumption-Based Regularization.
IEEE Robotics Autom. Lett.
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 J jnl
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization.
CoRR
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha
2025 J jnl
Robust-Locomotion-By-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control.
IEEE Trans. Robotics
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen, Rongming Guo, Jennifer K. Leestma, Gregory S. Sawicki, Ye Zhao
2024 A* conf
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning.
ICRA
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
2024 J jnl
Learn to Teach: Improve Sample Efficiency in Teacher-student Learning for Sim-to-Real Transfer.
CoRR
Feiyang Wu, Zhaoyuan Gu, Ye Zhao, Anqi Wu
2024 J jnl
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation.
CoRR
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, Shijie Zhao, Hyunyoung Jung, Sehoon Ha, Yue Chen, Danfei Xu, Ye Zhao
2024 J jnl
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control.
CoRR
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen, Rongming Guo, Jennifer K. Leestma, Gregory S. Sawicki, Ye Zhao
2024 A* conf
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
ICRA
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Yuntian Zhao, Ye Zhao
2023 — conf
Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs.
ICAR
Shuai Wang, Jingfan Zhang, Weiyi Kong, Chong Zhang, Jie Lai, Dongsheng Zhang, Chunyan Wang, Ke Chen, Zhaoyuan Gu, Ye Zhao, Ke Zhang, Yu Zheng
2023 J jnl
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning.
CoRR
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
2023 J jnl
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments.
IEEE Trans. Robotics
Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke, Seth Hutchinson, Ye Zhao
2023 J jnl
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations.
CoRR
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
2023 J jnl
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations.
CoRR
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
2022 A* conf
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery.
ICRA
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
2021 J jnl
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments.
CoRR
Abdulaziz Shamsah, Jonas Warnke, Zhaoyuan Gu, Ye Zhao
2021 J jnl
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery.
CoRR
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
2019 J jnl
Adversary A3C for Robust Reinforcement Learning.
CoRR
Zhaoyuan Gu, Zhenzhong Jia, Howie Choset
2019 J jnl
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller.
CoRR
Shuo Yang, Zhaoyuan Gu, Ruohai Ge, Aaron M. Johnson, Matthew J. Travers, Howie Choset
2019 J jnl
State Estimation for Legged Robots Using Contact-Centric Leg Odometry.
CoRR
Shuo Yang, Hans Kumar, Zhaoyuan Gu, Xiangyuan Zhang, Matthew J. Travers, Howie Choset