2026

Online learning of heterogeneous locomotion dynamics for precise loco-manipulation
Online Learning of Heterogeneous Locomotion Dynamics under Reinforcement Learning Policies for Precise Loco-Manipulation
Tianlin Zhang, Weipeng Xia, Lingwei Zhang, Yiyang Shao, Zhongyu Li, Yun-Hui Liu
arXiv preprint, arXiv:2610.41892, 2026
arXiv
Force-aware wheeled-legged robot performing valve rotation, wiping, door opening, and human-guided motion
Force-Aware Reinforcement Learning with Hybrid Sensorless Force Estimation for Wheeled-Legged Loco-Manipulation
Xuanqi Zeng, Jiaming Wang, Tianlin Zhang, Lingwei Zhang, Botian Xu, Weipeng Xia, Zhongyu Li, Yun-Hui Liu
arXiv preprint, arXiv:2609.13779, 2026
arXiv
Quadrupedal wheeled-legged robot jumping over an obstacle
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Xuanqi Zeng, Lingwei Zhang, Linzhu Yue, Zhitao Song, Hongbo Zhang, Tianlin Zhang, Yun-Hui Liu
arXiv preprint, arXiv:2602.21612, 2026
arXiv
VRA
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang, Zhitao Song, Xuanqi Zeng, Weipeng Xia, Zhongyu Li, Yun-hui Liu
Robotics: Science and Systems (RSS), 2026
arXiv | web
A team of collaborative quadrupeds manipulating and transporting an object
Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng, Xian Yang, Lingwei Zhang, Yun-Hui Liu, K. W. Samuel Au
American Control Conference (ACC), IEEE, 2026
arXiv

2025

Traversability-Aware Navigation
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data
H. Zhang, Z. Li, X. Zeng, L. Smith, K. Stachowicz, … & and Y. H. Liu
IEEE Transactions on Robotics (T-RO), 2025
arXiv | video
Three-Segment Leg
Codesign of a Differential Three-Segment Leg Enhancing Payload and Efficiency in Quadrupeds
Z. Song, L. Yue, L. Zhang, X. Zeng, H. Zhang, J. Dong, … & Y. H. Liu
IEEE/ASME Transactions on Mechatronics (TMECH), 2025
link
Robust MPC
Robust Model Predictive Control for Quadruped Locomotion Under Model Uncertainties and External Disturbances
W. Xia, L. Yue & Y. H. Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
link
Humanoid WBC
Whole-Body Control Framework for Humanoid Robots with Heavy Limbs: A Model-Based Approach
T. Zhang, L. Yue, H. Zhang, L. Zhang, X. Zeng, Z. Song, and Y. H. Liu
arXiv preprint, arXiv:2506.14278, 2025
arXiv | video

2024

Omnidirectional Jumping
A Fast Online Omnidirectional Quadrupedal Jumping Framework via Virtual-Model Control and Minimum Jerk Trajectory Generation
L. Yue, L. Zhang, Z. Song, H. Zhang, J. Dong, X. Zeng, & Y. H. Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
link | video
Adaptive MPC
Adaptive Model Predictive Control with Data-driven Error Model for Quadrupedal Locomotion
X. Zeng, H. Zhang, L. Yue, Z. Song, L. Zhang, & Y. H. Liu
IEEE International Conference on Robotics and Automation (ICRA), 2024
link | video

2023

Evolutionary Jump Planning
Evolutionary-Based Online Motion Planning Framework for Quadruped Robot Jumping
L. Yue, Z. Song, H. Zhang, X. Zeng, L. Zhang, & Y. H. Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
link | video
GenLoco
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
G. Feng, H. Zhang, Z. Li, X. B. Peng, B. Basireddy, L. Yue, … & S. Levine
Conference on Robot Learning (CoRL), 2023
link | video

2022

Optimal Jump Planning
An Optimal Motion Planning Framework for Quadruped Jumping
Z. Song, L. Yue, G. Sun, Y. Ling, H. Wei, L. Gui, & Y. H. Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
link | video