KS
Koushil Sreenath
cs.ROcs.SYeess.SYcs.LGcs.AImath.OCcs.CVRoboticscs.GRcs.MA
On Valency
published · living versionsW_3q7t7naw·v1 · currentpublished
SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model
with Qiayuan Liao, Yiyang Shao, Junfeng Long, Kevin Zakka +2
1 version
W_v8r7k4sm·v2published
Preprints & journals
108 papers in the corpus · 2013–2026SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model2610.28480v1 · Qiayuan Liao, Yiyang Shao, Junfeng Long et al.2026 · 0 citationsarXivon Valency
SSIO: Self-Supervised Inertial Odometry2610.25988v2 · Yuheng Qiu, Yutian Chen, Carlton Cort et al.2026 · 0 citationsarXivon Valency
Modeling and Understanding Neural Weights of Humanoid Policies with Diffusion2610.20606v1 · Huixuan Cheng, Bike Zhang, Shankar Sastry et al.2026 · 0 citationsarXiv
Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control2610.09479v1 · Joohwan Seo, Xiaofeng Guo, Jinkun Cao et al.2026 · 0 citationsarXiv
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data2610.09117v2 · Songbo Hu, Qiayuan Liao, Yufeng Chi et al.2026 · 0 citationsarXiv
Learning Continuous Neural Representation of Stochastic Hybrid Systems2609.38893v1 · Sangli Teng, Hang Liu, Koushil Sreenath2026 · 0 citationsarXiv
ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning2609.39665v2 · Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao et al.2026 · 0 citationsarXiv
In-Distribution Imagination for Model-Based Offline Reinforcement Learning2609.38673v1 · Mintae Kim, Koushil Sreenath2026 · 0 citationsarXiv
ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids2609.15988v1 · Gechen Qu, Tong Zhang, Bike Zhang et al.2026 · 0 citationsarXiv
BeyondMimic: From motion tracking to versatile humanoid control via guided diffusion.42647590 · Liao, Qiayuan, Truong, Takara E, Huang, Xiaoyu et al.2026 · 12 citationsScience robotics. 2026;11(117):eadx8924
Evolution of humanoid locomotion control.42616832 · Gu, Yan, Shi, Guanya, Shi, Fan et al.2026 · 0 citationsScience robotics. 2026;11(117):eaed3973
ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow2607.27924v3 · Dongxiu Liu, Haoyi Niu, Peng Cheng et al.2026 · 0 citationsarXiv
Embedding Hybrid Systems into Continuous Latent Vector Fields2606.10596v1 · Sangli Teng, Hang Liu, Koushil Sreenath2026 · 0 citationsarXiv
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization2603.11480v1 · Hanwen Wang, Qiayuan Liao, Bike Zhang et al.2026 · 0 citationsarXiv
Coordinated Humanoid Manipulation with Choice Policies2512.25072v1 · Haozhi Qi, Yen-Jen Wang, Toru Lin et al.2025 · 0 citationsarXiv
CHyLL: Learning Continuous Neural Representations of Hybrid Systems2512.10117v1 · Sangli Teng, Hang Liu, Jingyu Song et al.2025 · 0 citationsarXiv
Learning Dexterous Manipulation Skills from Imperfect Simulations2512.02011v2 · Elvis Hsieh, Wen-Han Hsieh, Yen-Jen Wang et al.2025 · 0 citations2026 IEEE International Conference on Robotics & Automation
RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems2509.11149v2 · Mintae Kim, Jiaze Cai, Koushil Sreenath2025 · 0 citationsarXiv
When are safety filters safe? On minimum phase conditions of control barrier functions2508.07684v1 · Jason J. Choi, Claire J. Tomlin, Shankar Sastry et al.2025 · 0 citationsarXiv
Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight2508.02984v1 · Bibek Gupta, Mintae Kim, Albert Park et al.2025 · 0 citationsarXiv
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams2505.13834v2 · Zhi Su, Yuman Gao, Emily Lukas et al.2025 · 0 citationsarXiv
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning2504.21738v1 · Yiyang Shao, Xiaoyu Huang, Bike Zhang et al.2025 · 6 citationsarXiv
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot2504.17249v1 · Yufeng Chi, Qiayuan Liao, Junfeng Long et al.2025 · 11 citationsarXiv
Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data2504.03233v1 · Jason J. Choi, Christopher A. Strong, Koushil Sreenath et al.2025 · 0 citationsarXiv
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control2503.11801v3 · Xiaoyu Huang, Takara Truong, Yunbo Zhang et al.2025 · 8 citationsarXiv
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation2503.07771v1 · Philipp Wu, Yide Shentu, Qiayuan Liao et al.2025 · 1 citationarXiv
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions2503.00606v2 · Jihao Huang, Jun Zeng, Xuemin Chi et al.2025 · 21 citationsarXiv
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories2502.15043v2 · Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal et al.2025 · 4 citationsRobotics: Science and Systems (RSS) 2025
MuJoCo Playground2502.08844v1 · Kevin Zakka, Baruch Tabanpour, Qiayuan Liao et al.2025 · 1 citationarXiv
Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control2502.04642v1 · Akshay Thirugnanam, Koushil Sreenath2025 · 0 citationsarXiv
Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations2412.14803v2 · Yucheng Hu, Yanjiang Guo, Pengchao Wang et al.2024 · 0 citationsarXiv
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots2411.15130v1 · Jiaze Cai, Vishnu Sangli, Mintae Kim et al.2024 · 3 citationsarXiv
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains2411.04494v2 · Linzhu Yue, Zhitao Song, Jinhu Dong et al.2024 · 1 citationarXiv
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation2410.13418v1 · Cunxi Dai, Xiaohan Liu, Koushil Sreenath et al.2024 · 1 citationarXiv
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies2410.11825v3 · Zixuan Chen, Xialin He, Yen-Jen Wang et al.2024 · 2 citationsarXiv
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models2409.18382v2 · Kanghyun Ryu, Qiayuan Liao, Zhongyu Li et al.2024 · 7 citationsarXiv
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker2409.16301v1 · Xingpeng Xia, Jason J. Choi, Ayush Agrawal et al.2024 · 0 citationsarXiv
Learning-Enabled Iterative Convex Optimization for Safety-Critical Model Predictive Control2409.08300v3 · Shuo Liu, Zhe Huang, Jun Zeng et al.2024 · 1 citationarXiv
Berkeley Humanoid: A Research Platform for Learning-based Control2407.21781v1 · Qiayuan Liao, Bike Zhang, Xuanyu Huang et al.2024 · 22 citationsarXiv
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation2407.06584v1 · Xiaoyu Huang, Qiayuan Liao, Yiming Ni et al.2024 · 8 citationsarXiv
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets2404.19264v1 · Xiaoyu Huang, Yufeng Chi, Ruofeng Wang et al.2024 · 0 citationsarXiv
Real-world humanoid locomotion with reinforcement learning.38630806 · Radosavovic, Ilija, Xiao, Tete, Zhang, Bike et al.2024 · 223 citationsScience robotics. 2024;9(89):eadi9579
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models2404.05291v3 · Yutao Ouyang, Jinhan Li, Yunfei Li et al.2024 · 10 citationsarXiv
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion2403.20001v2 · Boyuan Liang, Lingfeng Sun, Xinghao Zhu et al.2024 · 12 citationsICRA 2025
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations2403.20328v2 · Zhengmao He, Kun Lei, Yanjie Ze et al.2024 · 19 citationsarXiv
Leveraging Symmetry in RL-based Legged Locomotion Control2403.17320v3 · Zhi Su, Xiaoyu Huang, Daniel Ordonez-Apraez et al.2024 · 17 citations2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6899-6906
Humanoid Locomotion as Next Token Prediction2402.19469v1 · Ilija Radosavovic, Bike Zhang, Baifeng Shi et al.2024 · 20 citationsarXiv
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes2402.05279v2 · Will Lavanakul, Jason J. Choi, Koushil Sreenath et al.2024 · 3 citationsarXiv
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control2401.16889v2 · Zhongyu Li, Xue Bin Peng, Pieter Abbeel et al.2024 · 131 citationsarXiv
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems2311.13824v2 · Jason J. Choi, Fernando Castaneda, Wonsuhk Jung et al.2023 · 4 citationsarXiv
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