Yao Su

I am research scientist at State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence(BIGAI), where I work on Robotics and Control.

I received my B.S. degree from the School of Mechatronic Engineering, Harbin Institute of Technology in 2016, and the M.S. and Ph.D. degrees from the Department of Mechanical and Aerospace Engineering, University of California, Los Angeles in 2017 and 2021. I was adviced by Professor Dennis Hong in Robotics and Mechanisms Laboratory(RoMeLa) during my M.S. degree, and Professor Tsu-Chin Tsao in Mechatronics and Control Laboratory(MacLab) during my Ph.D. degree.

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Main page / Publications / Collaborators / Students

Under Review

	ECO: Energy-Constrained Optimization with Reinforcement Learning for Humanoid Walking Weidong Huang, Jingwen Zhang#, Xiaolong Hu, Jiongye Li, Shibowen Zhang, Jiayang Wu, Jiayi Wang, Song-Chun Zhu, Hangxin Liu, Yaodong Yang, Yao Su# IEEE Transactions on Automation Science and Engineering (TASE) (submitted), 2024 corresponding author paper link
	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 paper link
	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 paper link
	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 paper link
	PR2: A Physics- and Photo-realistic Humanoid Testbed with Pilot Study in Competition Hangxin Liu, Qi Xie, Zeyu Zhang, Tao Yuan, Song Wang, Zaijin Wang, Xiaokun Leng, Lining Sun, Song-Chun Zhu, Jingwen Zhang#, Zhicheng He#, Yao Su# Journal of Field Robotics (submitted), 2024 corresponding author paper link
	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 Intelligent Transportation Systems (TITS) (submitted), 2024 paper link
	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

Published/Conference

	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 paper link
	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 paper link
	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 paper link
	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 paper link
	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 paper link
	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 paper link
	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 paper link
	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
	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 paper link / video
	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 paper link / video
	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 paper link / video / web
	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 paper link
	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 paper link / video
	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 paper link / video

Published/Journal

	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 paper link
	Auto-focusing Femtosecond Laser Manufacturing System via Acoustic Emission Technology Yanzhe Fu, Yao Su, Jiayong Wei, Bing Wang, Jiebo Li# Optics Letters, 2024 paper link
	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* paper link
	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 paper link / video
	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 paper link / video
	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 paper link/ video
	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 paper link / video / web
	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* paper link / video
	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 paper link / video
	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 paper link / video
	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 paper link / video
	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 paper link

Published/Disseration

Compensation and Control Allocation with Input Saturation Limits and Rotor Faults for Multi-Rotor Copters with Redundant Actuations
Yao Su
UCLA Disseration, 2021
paper link