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ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking
Weidong Huang*, Jingwen Zhang*#, Xiaolong Hu, Jiayang Wu, Shibowen Zhang, Song-Chun Zhu, Hangxin Liu, Yaodong Yang, Yao Su#
IEEE Robotics and Automation Letters (RA-L) (submitted), 2025
corresponding author
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GelLocator: Real-time High-accuracy Visuo-Tactile Localization with Structured 3D Patterns and Vision-based Tactile Sensors
Meng Wang*, Wanlin Li*, Qiuxuan Chen, Hang Li, Kaspar Althoefer, Yao Su#, Hangxin Liu#,
International Conference on Robotics and Automation (ICRA) (submitted), 2025
co-corresponding author
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R-FTact: A Rounded High-Frequency Low-Cost Monochrome Vision-based Tactile Sensor for Shape Reconstruction
Wanlin Li*, Pei Lin*, Meng Wang, Chenxi Xiao, Kaspar Althoefer, Ziyuan Jiao, Yao Su#, Hangxin Liu#,
International Conference on Robotics and Automation (ICRA) (submitted), 2025
co-corresponding author
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Multi-Agent Joint Task Planning in Symmetrical Reality
Tingliang Zhang, Xinning He, Muzhi Han, Song-Chun Zhu, Yao Su#, Zhenliang Zhang#,
International Conference on Robotics and Automation (ICRA) (submitted), 2025
co-corresponding author
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PR2: A Physics- and Photo-realistic Humanoid Testbed with Pilot Study in Competition
Hangxin Liu, Qi Xie, Zeyu Zhang, Tao Yuan, Xiaokun Leng, Lining Sun, Song-Chun Zhu, Jingwen Zhang#, Zhicheng He#, Yao Su#
IEEE Robotics and Automation Letters (RA-L) (submitted), 2025
corresponding author
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BVA-Tracker: Belief-Space Visibility-Aware Target Tracking in Unknown Cluttered Environments
Han Gao, Zhaoyang Li, Kangjie Zhou, Kang Ding, Yao Su, Hangxin Liu, Shengbo Eben Li, Chang Liu#
IEEE Transactions on Automation Science and Engineering (submitted), 2024
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ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments
Kangjie Zhou, Zhaoyang Li, Han Gao, Yao Su, Hangxin Liu, Junzhi Yu, Chang Liu#
IEEE Transactions on Systems, Man, and Cybernetics (TSMC) (submitted), 2024
paper link
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Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang, Jingwen Zhang, Hang Li, Meng Wang, Hangxin Liu#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2024
first author
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Large-scale Vision-based Tactile Sensor Deployment on Multi-fingered Grippers
Meng Wang*, Wanlin Li*, Hao Liang, Boren Li, Kaspar Althoefer, Yao Su#, Hangxin Liu#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (oral), 2024
co-corresponding author
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Learning Concept-Based Causal Transition and Symbolic Reasoning for Visual Planning
Yilue Qian, Peiyu Yu, Ying Nian Wu, Yao Su, Wei Wang#, Lifeng Fan#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2024
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Dynamic Planning for Sequential Whole-body Mobile Manipulation
Zhitian Li*, Yida Niu*, Yao Su, Hangxin Liu, Ziyuan Jiao#
IEEE Conference on Industrial Electronics and Applications (ICIEA) , 2024
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ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking
Kangjie Zhou, Pengying Wu, Yao Su, Han Gao, Ji Ma, Hangxin Liu and Chang Liu#
International Conference on Robotics and Automation (ICRA), 2024
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Real-time Dynamic-Consistent Motion Planning for Over-actuated UAVs
Yao Su*, Jingwen Zhang*, Hang Li, Meng Wang, Hangxin Liu#
International Conference on Robotics and Automation (ICRA) , 2024
first author
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Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments
Han Gao, Pengying Wu, Yao Su, Kangjie Zhou, Ji Ma, Hangxin Liu and Chang Liu#
IEEE American Control Conference (ACC), 2024
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On the Emergence of Symmetrical Reality
Zhenliang Zhang#, Zeyu Zhang, Ziyuan Jiao, Yao Su, Hangxin Liu, Wei Wang and Song-Chun Zhu#
IEEE Conference on Virtual Reality and 3D User Interfaces (VR) , 2024
paper link
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Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements
Meng Wang*, Yao Su*, Hang Li, Jiarui Li, Jixiang Liang, Hangxin Liu#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
co-first author
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Planning Sequential Aerial Manipulation for Over-actuated UAMs
Yao Su*, Jiarui Li*, Ziyuan Jiao*, Meng Wang, Chi Chu, Hang Li, Yixin Zhu, Hangxin Liu#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023
IROS 2023 Best Paper Award on Mobile Manipulation--Finalist!
first author
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Downwash-aware Control Allocation for Over-actuated UAV Platforms
Yao Su*, Chi Chu*, Meng Wang, Jiarui Li, Liu Yang, Yixin Zhu, Hangxin Liu#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
first author
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A Simple Six Degree-of-Freedom Aerial Vehicle Built on Quadcopters
Chen-Huan Pi*, Lecheng Ruan*, Pengkang Yu, Yao Su, Stone Cheng, Tsu-Chin Tsao#
IEEE Conference on Control Technology and Applications (CCTA), 2021
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WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning
Meng Wang, Yao Su, Hangxin Liu, Yingqing Xu#
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2020
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Multi-Limbed Robot Vertical Two Wall Climbing Based on Static Indeterminacy Modeling and Feasibility Region Analysis
Xuan Lin, Hari Krishnan,
Yao Su, Dennis W Hong#
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
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CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Zhicheng He, Jiayang Wu, Jingwen Zhang, Shibowen Zhang, Yapeng Shi, Hangxin Liu, Lining Sun, Yao Su#, Xiaokun Leng#
IEEE Robotics and Automation Letters (RA-L), 2024
co-corresponding author
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Auto-focusing Femtosecond Laser Manufacturing System via Acoustic Emission Technology
Yanzhe Fu, Yao Su, Jiayong Wei, Bing Wang, Jiebo Li#
Optics Letters, 2024
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Compensating Aerodynamics of Over-actuated Multi-rotor Aerial Platform with Data-driven Iterative Learning Control
Pengkang Yu*, Yao Su*#, Lecheng Ruan, Tsu-Chin Tsao
IEEE Robotics and Automation Letters (RA-L), 2023
co-first author, corresponding author
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L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing
Wanlin Li*, Meng Wang*, Jiarui Li, Yao Su#, Devesh K. Jha, Xinyuan Qian, Kaspar Althoefer, Hangxin Liu#
IEEE Robotics and Automation Letters (RA-L) , 2023
co-corresponding author
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Fault-tolerant Control of Overactuated Multirotor UAV Platform under Propeller Failure
Yao Su*#, Pengkang Yu*, Lecheng Ruan#, Matthew J. Gerber, Tsu-Chin Tsao
IEEE/ASME Transactions on Mechatronics (TMECH) , 2023
first author, corresponding author
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Control and Experiments of a Novel Tiltable-Rotor Aerial Platform Comprising Quadcopters and Passive Hinges
Lecheng Ruan*#, Chen-Huan Pi*, Yao Su#, Pengkang Yu, Stone Cheng, Tsu-Chin Tsao
Mechatronics, ELSEVIER, 2022
co-corresponding author
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Object Gathering with a Tethered Robot Duo
Yao Su, Yuhong Jiang, Yixin Zhu, Hangxin Liu#
IEEE Robotics and Automation Letters (RA-L)/ICRA, 2022
first author
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A Fast and Efficient Attitude Control Algorithm of a Tilt-Rotor Aerial Platform Using Inputs Redundancies
Yao Su*#, Lecheng Ruan*, Pengkang Yu*, Chen-Huan Pi, Matthew J. Gerber, Tsu-Chin Tsao
IEEE Robotics and Automation Letters (RA-L)/ICRA, 2022
first author, correspnding author
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Nullspace-Based Control Allocation of Overactuated UAV Platforms
Yao Su*#, Pengkang Yu*, Matthew J. Gerber, Lecheng Ruan, Tsu-Chin Tsao
IEEE Robotics and Automation Letters (RA-L)/IROS, 2021
first author, correspnding author
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An Over-Actuated Multi-Rotor Aerial Vehicle With Unconstrained Attitude Angles and High Thrust Efficiencies
Pengkang Yu*#, Yao Su*, Matthew J. Gerber, Lecheng Ruan, Tsu-Chin Tsao
IEEE Robotics and Automation Letters (RA-L)/IROS, 2021
co-first author
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Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks
Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu#
IEEE Robotics and Automation Letters (RA-L)/ICRA, 2021
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Robust bipedal locomotion based on a hierarchical control structure
Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu#
Robotica, 2019
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Compensation and Control Allocation with Input Saturation Limits and Rotor Faults for Multi-Rotor Copters with Redundant Actuations
Yao Su
UCLA Disseration, 2021
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