Publications

Ao Zhang, Liang Ding, Zhelin Zhang, Peng Xu, Ruyi Zhou, Lei Ye, Haibo Gao, Zongquan Deng (2026). AttnWalk: Attention-Enhanced Reinforcement Learning With Reward-Predicted Curriculum for Wheel-Legged Robots. TIE · 2026.

Ziqi Han*, Yitang Li*, Junhan Sun*, Fanrong Dong, Yaojie Shen, Lei Ye, Zetong Jing, Yongqi Zhang, Yiming Zhang, Xue Wang, Hao Zhao (2026). I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning. Preprint · 2026.

Lei Ye, Haibo Gao, Yitang Li, Peng Xu, Zetong Jing, Junhan Sun, Fanrong Dong, Ziqi Han, Xue Wang, Jianhua Sun, Cewu Lu, Hao Zhao, Liang Ding (2026). PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control. Preprint · 2026.

Lei Ye, Haibo Gao, Huaiguang Yang, Peng Xu*, Haoyu Wang, Tie Liu, Junqi Shan, Zongquan Deng, Liang Ding* (2026). KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion. TIE.

Lei Ye, Haibo Gao, Peng Xu*, Zhelin Zhang, Junqi Shan, Ao Zhang, Wei Zhang, Ruyi Zhou, Zongquan Deng, Liang Ding (2026). PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching. ICRA 2026.

Peng Xu, Liang Ding, Lei Ye, Tengwei Pang, Tie Liu, Huaiguang Yang, Haibo Gao, Zongquan Deng, Joni Pajarinen (2025). Contact Planning for Multilegged Robots Under Constraints Through Parallel MCTS. T-RO.