QL
Qiayuan Liao
cs.ROcs.AIcs.LGcs.SYeess.SYRobotics
On Valency
published · living versionsW_3q7t7naw·v1 · currentpublished
SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model
with Yiyang Shao, Junfeng Long, Kevin Zakka, Roberto Horowitz +2
1 version
Preprints & journals
20 papers in the corpus · 2020–2026SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World Model2610.28480v1 · Qiayuan Liao, Yiyang Shao, Junfeng Long et al.2026 · 0 citationsarXivon Valency
Workhorse: Learning Robust Whole-Body Humanoid Loco-Manipulation from Human Data2610.09117v2 · Songbo Hu, Qiayuan Liao, Yufeng Chi 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
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization2603.11480v1 · Hanwen Wang, Qiayuan Liao, Bike Zhang et al.2026 · 0 citationsarXiv
mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning2601.22074v2 · Kevin Zakka, Qiayuan Liao, Brent Yi et al.2026 · 0 citationsarXiv
HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning2508.21043v2 · Zhi Su, Bike Zhang, Nima Rahmanian et al.2025 · 0 citationsarXiv
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction2506.13751v3 · Haoru Xue, Xiaoyu Huang, Dantong Niu et al.2025 · 1 citationarXiv
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
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation2503.07771v1 · Philipp Wu, Yide Shentu, Qiayuan Liao et al.2025 · 1 citationarXiv
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
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
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
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
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization2212.14199v3 · Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam et al.2022 · 32 citationsarXiv
Real-time Trajectory Optimization and Control for Ball Bumping with Quadruped Robots2210.05195v1 · Qiayuan Liao, Zhefeng Cao, Hua Chen et al.2022 · 0 citationsarXiv
Review of Quadruped Robots for Dynamic Locomotion2005.11134v2 · Qiayuan Liao2020 · 1 citationarXiv
Career total: 22 works. 20 are in this corpus.
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