publications
Publications by year. Full list on Google Scholar.
Full list: Google Scholar
2025
- Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Ziyi Zhou*, Qian Meng*, Hadas Kress-Gazit, Ye Zhao
IROS 2025 · Paper | Video - Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
Ziyi Zhou, Stefano Di Cairano, Yebin Wang, Karl Berntorp
ICRA 2025 · Paper
2024
- Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai, Ziyi Zhou, et al.
arXiv 2024 · Paper | Website - Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal
Max Asselmeier, Jane Ivanova, Ziyi Zhou, Patricio A. Vela, Ye Zhao
ICRA 2024 · Paper | Video
2023
- Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Lasitha Wijayarathne*, Ziyi Zhou*, Ye Zhao, Frank L. Hammond III
IEEE TRO 2023 · Paper | Code | Video - GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation
Shiyu Feng, Ziyi Zhou, Justin S. Smith, Max Asselmeier, Ye Zhao, Patricio A. Vela
ICRA 2023 · Paper | Video
2022
- Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou*, Bruce Wingo*, Nathan Boyd, Seth Hutchinson, Ye Zhao
RA-L 2022 · Paper | Video - Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Dejun Guo, Ye Zhao
CASE 2022 · Paper | Code | Video
2021
- SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments
Zhigen Zhao*, Ziyi Zhou*, Michael Park, Ye Zhao
IEEE Access 2021 · Paper | Code