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• Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
  2025 · 7 citations
• Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
  2021 · 4 citations
• Design And Implementation Of A Three-link Brachiation Robot With Optimal Control Based Trajectory Tracking Controller
  2019 · 3 citations
• State Estimation for Legged Robots Using Contact-Centric Leg Odometry
  2019 · 3 citations
• WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
  2026
• REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
  2026
• PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization
  2025
• Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery
  2021
• Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations