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ORCIDZhongyu Li 0003
Person information
- affiliation: University of California Berkeley, Department of Mechanical Engineering, Berkeley, CA, USA
Other persons with the same name
- Zhongyu Li (aka: Zhong-Yu Li) — disambiguation page
- Zhongyu Li 0001
![[0000-0002-0409-8207]](https://dblp.org/img/orcid-mark.12x12.png "0000-0002-0409-8207")
— University of Electronic Science and Technology of China, School of Information and Communication Engineering, Chengdu, China - Zhongyu Li 0002 — Xi'an Jiaotong University, School of Software Engineering, Xi'an, China
- Zhongyu Li 0004 — Chengdu University of Technology, College of Geophysics, Chengdu, China
- Zhongyu Li 0005 — Johns Hopkins University, Johns Hopkins Whiting School of Engineering, Baltimore, MD, USA
- Zhongyu Li 0006 (aka: Zhong-Yu Li 0006) — Nankai University, VCIP, School of Computer Science, Shanghai AI Laboratory, China
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2020 – today
- 2025
[j3]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. Int. J. Robotics Res. 44(5): 840-888 (2025)- [i34]Wen-Tse Chen, Minh Nguyen, Zhongyu Li, Guo Ning Sue, Koushil Sreenath:
Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL. CoRR abs/2503.18221 (2025) - [i33]Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Yakun Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath:
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot. CoRR abs/2504.17249 (2025) - [i32]Yiyang Shao, Xiaoyu Huang, Bike Zhang, Qiayuan Liao, Yuman Gao, Yufeng Chi, Zhongyu Li, Yakun Sophia Shao, Koushil Sreenath:
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning. CoRR abs/2504.21738 (2025) - [i31]Zhi Su, Yuman Gao, Emily Lukas, Yunfei Li, Jiaze Cai, Faris Tulbah, Fei Gao, Chao Yu, Zhongyu Li, Yi Wu, Koushil Sreenath:
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams. CoRR abs/2505.13834 (2025) - 2024
- [c21]Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath:
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRL 2024: 1567-1589 - [c20]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. IROS 2024: 6899-6906 - [c19]Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath:
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. IROS 2024: 9050-9057 - [c18]Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu:
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. IROS 2024: 9102-9109 - [i30]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control. CoRR abs/2401.16889 (2024) - [i29]Zhi Su, Xiaoyu Huang, Daniel Felipe Ordoñez Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath:
Leveraging Symmetry in RL-based Legged Locomotion Control. CoRR abs/2403.17320 (2024) - [i28]Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu:
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations. CoRR abs/2403.20328 (2024) - [i27]Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu:
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models. CoRR abs/2404.05291 (2024) - [i26]Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Yakun Sophia Shao, Borivoje Nikolic, Koushil Sreenath:
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. CoRR abs/2404.19264 (2024) - [i25]Xiaoyu Huang, Qiayuan Liao, Yiming Ni, Zhongyu Li, Laura M. Smith, Sergey Levine, Xue Bin Peng, Koushil Sreenath:
HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. CoRR abs/2407.06584 (2024) - [i24]Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath:
Berkeley Humanoid: A Research Platform for Learning-based Control. CoRR abs/2407.21781 (2024) - [i23]Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Koushil Sreenath, Negar Mehr:
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models. CoRR abs/2409.18382 (2024) - [i22]Hongbo Zhang, Zhongyu Li, Xuanqi Zeng, Laura M. Smith, Kyle Stachowicz, Dhruv Shah, Linzhu Yue, Zhitao Song, Weipeng Xia, Sergey Levine, Koushil Sreenath, Yun-hui Liu:
Traversability-Aware Legged Navigation by Learning from Real-World Visual Data. CoRR abs/2410.10621 (2024) - [i21]Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng:
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. CoRR abs/2410.11825 (2024) - [i20]Cunxi Dai, Xiaohan Liu, Koushil Sreenath, Zhongyu Li, Ralph Hollis:
Interactive Navigation with Adaptive Non-prehensile Mobile Manipulation. CoRR abs/2410.13418 (2024) - [i19]Linzhu Yue, Zhitao Song, Jinhu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yunhui Liu:
Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains. CoRR abs/2411.04494 (2024) - 2023
- [j2]Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath:
Autonomous navigation of underactuated bipedal robots in height-constrained environments. Int. J. Robotics Res. 42(8): 565-585 (2023) - [c17]Yifan Zeng, Suiyi He, Han Hoang Nguyen, Yihan Li, Zhongyu Li, Koushil Sreenath, Jun Zeng:
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CDC 2023: 5255-5260 - [c16]Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath:
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. IROS 2023: 2715-2722 - [c15]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. IROS 2023: 2723-2730 - [c14]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. Robotics: Science and Systems 2023 - [i18]Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. CoRR abs/2302.09450 (2023) - [i17]Yifan Zeng, Suiyi He, Han Hoang Nguyen, Zhongyu Li, Koushil Sreenath, Jun Zeng:
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments. CoRR abs/2302.14246 (2023) - 2022
- [j1]Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath:
Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots. IEEE Robotics Autom. Lett. 7(4): 10041-10048 (2022) - [c13]Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine:
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRL 2022: 1893-1903 - [c12]Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath:
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. ICRA 2022: 10456-10462 - [c11]Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik:
Adapting Rapid Motor Adaptation for Bipedal Robots. IROS 2022: 1161-1168 - [c10]Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath:
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. IROS 2022: 1479-1486 - [c9]Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan:
Teaching Robots to Span the Space of Functional Expressive Motion. IROS 2022: 13406-13413 - [c8]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. Robotics: Science and Systems 2022 - [i16]Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan:
Teaching Robots to Span the Space of Functional Expressive Motion. CoRR abs/2203.02091 (2022) - [i15]Lizhi Yang, Zhongyu Li, Jun Zeng, Koushil Sreenath:
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control. CoRR abs/2203.02570 (2022) - [i14]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. CoRR abs/2205.05787 (2022) - [i13]Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik:
Adapting Rapid Motor Adaptation for Bipedal Robots. CoRR abs/2205.15299 (2022) - [i12]Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath:
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots. CoRR abs/2206.14424 (2022) - [i11]Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, Koushil Sreenath:
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. CoRR abs/2208.01160 (2022) - [i10]Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine:
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. CoRR abs/2209.05309 (2022) - [i9]Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, Koushil Sreenath:
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. CoRR abs/2210.04435 (2022) - [i8]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization. CoRR abs/2212.14199 (2022) - 2021
- [c7]Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath:
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. ACC 2021: 3856-3863 - [c6]Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CASE 2021: 2132-2139 - [c5]Jun Zeng, Zhongyu Li, Koushil Sreenath:
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CDC 2021: 6137-6144 - [c4]Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. ICRA 2021: 2811-2817 - [c3]Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. ICRA 2021: 11470-11476 - [i7]Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath:
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. CoRR abs/2103.12375 (2021) - [i6]Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath:
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. CoRR abs/2103.14295 (2021) - [i5]Anxing Xiao, Wenzhe Tong, Lizhi Yang, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. CoRR abs/2103.14300 (2021) - [i4]Jun Zeng, Zhongyu Li, Koushil Sreenath:
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions. CoRR abs/2105.10596 (2021) - [i3]Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath:
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles. CoRR abs/2107.00773 (2021) - [i2]Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath:
Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments. CoRR abs/2109.05714 (2021) - 2020
- [c2]Zhongyu Li, Christine Cummings, Koushil Sreenath:
Animated Cassie: A Dynamic Relatable Robotic Character. IROS 2020: 3739-3746 - [i1]Zhongyu Li, Christine Cummings, Koushil Sreenath:
Animated Cassie: A Dynamic Relatable Robotic Character. CoRR abs/2009.02846 (2020)
2010 – 2019
- 2019
- [c1]Zhongyu Li, Ralph Hollis:
Toward A Ballbot for Physically Leading People: A Human-Centered Approach. IROS 2019: 4827-4833
Coauthor Index
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