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i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments


Mar 17, 2023
Yifan Zeng, Suiyi He, Han Hoang Nguyen, Zhongyu Li, Koushil Sreenath, Jun Zeng

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* Submitted to IEEE Control Systems Letters (L-CSS) 

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Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning


Feb 19, 2023
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath

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* Accompanying video is at https://youtu.be/aAPSZ2QFB-E 

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Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization


Dec 29, 2022
Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

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Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning


Oct 10, 2022
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath

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* First two authors contributed equally. Accompanying video is at https://youtu.be/iX6OgG67-ZQ 

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GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots


Sep 12, 2022
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine

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* First two authors contributed equally 

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Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot


Aug 01, 2022
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath

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* Accepted to 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 

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Key-frame Guided Network for Thyroid Nodule Recognition using Ultrasound Videos


Jun 30, 2022
Yuchen Wang, Zhongyu Li, Xiangxiang Cui, Liangliang Zhang, Xiang Luo, Meng Yang, Shi Chang

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Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots


Jun 29, 2022
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath

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* Extended version of the manuscript accepted to IEEE Robotics and Automation Letters (RA-L) 2022 

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Adapting Rapid Motor Adaptation for Bipedal Robots


May 30, 2022
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik

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* First two authors contributed equally. Website at https://ashish-kmr.github.io/a-rma/ 

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