Ye Zhao

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 68

Top Topics

Legged Locomotion

Reinforcement Learning

Model Predictive Control

Top Venues

IEEE Trans. Robotics

IEEE Robotics Autom. Lett.

Publications

Abdulaziz Shamsah, Krishanu Agarwal, Shreyas Kousik, Ye Zhao
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation. CoRR (2024)
Jiming Ren, Haris Miller, Karen M. Feigh, Samuel Coogan, Ye Zhao
LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications. CoRR (2024)
Zhigen Zhao, Shuo Cheng, Yan Ding, Ziyi Zhou, Shiqi Zhang, Danfei Xu, Ye Zhao
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches. CoRR (2024)
Zhaoyuan Gu, Yuntian Zhao, Yipu Chen, Rongming Guo, Jennifer K. Leestma, Gregory S. Sawicki, Ye Zhao
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control. CoRR (2024)
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Yuntian Zhao, Ye Zhao
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations. ICRA (2024)
Feiyang Wu, Zhaoyuan Gu, Ye Zhao, Anqi Wu
Learn to Teach: Improve Sample Efficiency in Teacher-student Learning for Sim-to-Real Transfer. CoRR (2024)
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning. ICRA (2024)
Max Asselmeier, Jane Ivanova, Ziyi Zhou, Patricio A. Vela, Ye Zhao
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal. ICRA (2024)
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah, Samuel Coogan, Ye Zhao
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability. CoRR (2024)
Jesse Jiang, Samuel Coogan, Ye Zhao
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning. CoRR (2024)
Abdulaziz Shamsah, Krishanu Agarwal, Nigam Katta, Abirath Raju, Shreyas Kousik, Ye Zhao
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control. CoRR (2024)
Kelin Yu, Yunhai Han, Matthew Zhu, Ye Zhao
MimicTouch: Learning Human's Control Strategy with Multi-Modal Tactile Feedback. CoRR (2023)
Shiyu Feng, Ziyi Zhou, Justin S. Smith, Max Asselmeier, Ye Zhao, Patricio A. Vela
GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation. ICRA (2023)
Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills. CoRR (2023)
Ted Tyler, Vaibhav Malhotra, Adam Montague, Zhigen Zhao, Frank L. Hammond III, Ye Zhao
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion. CoRR (2023)
Abdulaziz Shamsah, Zhaoyuan Gu, Jonas Warnke, Seth Hutchinson, Ye Zhao
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments. IEEE Trans. Robotics 39 (6) (2023)
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations. CoRR (2023)
Abdulaziz Shamsah, Ye Zhao
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion. CoRR (2023)
Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu, Patricio A. Vela
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments. CoRR (2023)
Zhaoyuan Gu, Rongming Guo, William Yates, Yipu Chen, Ye Zhao
Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion Resilient to External Perturbations. CoRR (2023)
Shuai Wang, Jingfan Zhang, Weiyi Kong, Chong Zhang, Jie Lai, Dongsheng Zhang, Chunyan Wang, Ke Chen, Zhaoyuan Gu, Ye Zhao, Ke Zhang, Yu Zheng
Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs. ICAR (2023)
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning. CoRR (2023)
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao, Frank L. Hammond
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation. IEEE Trans. Robotics 39 (5) (2023)
Max Asselmeier, Jane Ivanova, Ziyi Zhou, Patricio A. Vela, Ye Zhao
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal. CoRR (2023)
Michael Enqi Cao, Jonas Warnke, Yunhai Han, Xinpei Ni, Ye Zhao, Samuel Coogan
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution. CoRR (2022)
Lasitha Wijayarathne, Ziyi Zhou, Ye Zhao, Frank L. Hammond III
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation. CoRR (2022)
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Stephen Balakirsky, Dejun Guo, Ye Zhao
Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming. CASE (2022)
Michael Enqi Cao, Xinpei Ni, Jonas Warnke, Yunhai Han, Samuel Coogan, Ye Zhao
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution. SSRR (2022)
Yunhai Han, Nathan Boyd, Xinpei Ni, Ye Zhao
Multi-Robot Collaboration with Heterogeneous Capabilities. ACC (2022)
Jianwen Luo, Ye Zhao, Lecheng Ruan, Shixin Mao, Chenglong Fu
Estimation of CoM and CoP Trajectories During Human Walking Based on a Wearable Visual Odometry Device. IEEE Trans Autom. Sci. Eng. 19 (1) (2022)
Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, Ye Zhao
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 7 (3) (2022)
Zhaoyuan Gu, Nathan Boyd, Ye Zhao
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery. ICRA (2022)
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu
Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments. Int. J. Robotics Res. 41 (8) (2022)
Jesse Jiang, Ye Zhao, Samuel Coogan
Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction. IEEE Control. Syst. Lett. 6 (2022)
Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao
Adversarially Regularized Policy Learning Guided by Trajectory Optimization. L4DC (2022)
Ziyi Zhou, Nathan Boyd, Vishwa Ramkumar, Max Asselmeier, Ye Zhao
Agile Locomotion and Backflip Demonstrations on Mini Cheetah. ACC (2022)
Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, Ye Zhao
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion. CoRR (2022)
Max Asselmeier, Ye Zhao, Patricio A. Vela
Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments. CoRR (2022)
Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu, Patricio A. Vela
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments. CDC (2022)
Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu
Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks. IEEE Robotics Autom. Lett. 6 (2) (2021)
Lixian Zhang, Ruixian Zhang, Tong Wu, Rui Weng, Minghao Han, Ye Zhao
Safe Reinforcement Learning With Stability Guarantee for Motion Planning of Autonomous Vehicles. IEEE Trans. Neural Networks Learn. Syst. 32 (12) (2021)
Bingchen Jin, Shusheng Ye, Juntong Su, Chaoyang Song, Ye Zhao, Aidong Zhang, Ning Ding, Jianwen Luo
High-Payload Online Identification and Adaptive Control for an Electrically-actuated Quadruped Robot. CoRR (2021)
Yunhai Han, Rahul Batra, Nathan Boyd, Tuo Zhao, Yu She, Seth Hutchinson, Ye Zhao
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer. CoRR (2021)
Ziyi Zhou, Dong Jae Lee, Yuki Yoshinaga, Dejun Guo, Ye Zhao
Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System. CoRR (2021)
Luke Drnach, John Z. Zhang, Ye Zhao
Mediating Between Contact Feasibility and Robustness of Trajectory Optimization Through Chance Complementarity Constraints. Frontiers Robotics AI 8 (2021)
Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao
Adversarially Regularized Policy Learning Guided by Trajectory Optimization. CoRR (2021)
Luke Drnach, Ye Zhao
Robust Trajectory Optimization Over Uncertain Terrain With Stochastic Complementarity. IEEE Robotics Autom. Lett. 6 (2) (2021)
Hongwu Zhu, Dong Wang, Nathan Boyd, Ziyi Zhou, Lecheng Ruan, Aidong Zhang, Ning Ding, Ye Zhao, Jianwen Luo
Terrain-Perception-Free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. Frontiers Robotics AI 8 (2021)
John Z. Zhang, Luke Drnach, Ye Zhao
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints. CoRR (2021)
Hongwu Zhu, Dong Wang, Ganyu Deng, Nathan Boyd, Ziyi Zhou, Lecheng Ruan, Caiming Sun, Aidong Zhang, Ning Ding, Ye Zhao, Jianwen Luo
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation. CoRR (2021)
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments. IEEE Access 9 (2021)
Luke Drnach, Ye Zhao
Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity. CoRR (2020)
Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments. CoRR (2020)
Ye Zhao, Yan Gu
A non-periodic planning and control framework of dynamic legged locomotion. Int. J. Intell. Robotics Appl. 4 (1) (2020)
Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM. Robotica 38 (4) (2020)
Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu
Robust Bipedal Locomotion Based on a Hierarchical Control Structure. Robotica 37 (10) (2019)
Ye Zhao, Luis Sentis
Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation. CoRR (2018)
Ye Zhao, Nicholas Paine, Steven Jens Jorgensen, Luis Sentis
Impedance Control and Performance Measure of Series Elastic Actuators. IEEE Trans. Ind. Electron. 65 (3) (2018)
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments. CoRR (2018)
Jianwen Luo, Shuguo Wang, Ye Zhao, Yili Fu
Variable stiffness control of series elastic actuated biped locomotion. Intell. Serv. Robotics 11 (3) (2018)
Ye Zhao, Benito R. Fernández, Luis Sentis
Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model. CoRR (2017)
Jianwen Luo, Ye Zhao, Donghyun Kim, Oussama Khatib, Luis Sentis
Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework. ROBIO (2017)
Ye Zhao, Jonathan S. Matthis, Sean L. Barton, Mary M. Hayhoe, Luis Sentis
Towards understanding visually guided locomotion over complex and rough terrain: A phase-space planning method. ARSO (2017)
Ye Zhao, Benito R. Fernández, Luis Sentis
Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model. Int. J. Robotics Res. 36 (11) (2017)
Ye Zhao, Ufuk Topcu, Luis Sentis
High-level planner synthesis for whole-body locomotion in unstructured environments. CDC (2016)
Ye Zhao, Luis Sentis
Passivity of time-delayed whole-body operational space control with series elastic actuation. Humanoids (2016)
Ye Zhao, Benito R. Fernández, Luis Sentis
Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies. Robotics: Science and Systems (2016)
Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. IEEE Trans. Robotics 32 (6) (2016)
Ye Zhao, Nicholas Paine, Kwan-Suk Kim, Luis Sentis
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers. IEEE Trans. Ind. Electron. 62 (11) (2015)
Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. HSCC (2015)
Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. CoRR (2015)
Ye Zhao, Benito R. Fernández, Luis Sentis
A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion. CoRR (2015)
Ye Zhao, Nicholas Paine, Kwan-Suk Kim, Luis Sentis
Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers. CoRR (2015)
Ye Zhao, Nicholas Paine, Luis Sentis
Feedback parameter selection for impedance control of series elastic actuators. Humanoids (2014)
Ye Zhao, Donghyun Kim, Benito R. Fernández, Luis Sentis
Phase space planning and robust control for data-driven locomotion behaviors. Humanoids (2013)
Ye Zhao, Luis Sentis
A three dimensional foot placement planner for locomotion in very rough terrains. Humanoids (2012)