Publications

Selected Works:

(Co-)Led by me:

• WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
  Chong Zhang*, Wenli Xiao*, Tairan He, Guanya Shi
  2024 Conference on Robot Learning (CoRL)
  [Website] [Video Teaser] [Video Intro] [IEEE Spectrum]

• Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
  Fan Shi*, Chong Zhang*, Takahiro Miki, Joonho Lee, Marco Hutter, and Stelian Coros
  2024 Robotics: Science and Systems (RSS)
  [Video] [IEEE Spectrum]

• Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
  Tairan He*, Chong Zhang*, Wenli Xiao, Guanqi He, Changliu Liu, Guanya Shi
  2024 Robotics: Science and Systems (RSS)
  Finalist of Outstanding Student Paper Award
  [Website] [IEEE Spectrum]

• Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
  Chong Zhang*, Jin Jin*, Jonas Frey, Nikita Rudin, Matias Mattamala, Cesar Cadena, Marco Hutter
  2024 IEEE International Conference on Robotics and Automation (ICRA)
  Finalist of ICRA Best Paper Award in Cognitive Robotics
  [Website] [IEEE Spectrum]

• Learning Agile Locomotion on Risky Terrains
  Chong Zhang, Nikita Rudin, David Hoeller, Marco Hutter
  2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  [Video]

• Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning.
  Chong Zhang, Lizhi Yang
  2023 IEEE International Conference on Robotics and Automation (ICRA)
  [Github]

• Accessibility-Based Clustering for Efficient Learning of Locomotion Skills.
  Chong Zhang*, Wanming Yu*, Zhibin Li
  2022 IEEE International Conference on Robotics and Automation (ICRA)
  [Oral Presentation]

Cooperations:

• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
  Tairan He*, Zhengyi Luo*, Xialin He*, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, Guanya Shi
  2024 Conference on Robot Learning (CoRL)
  [Website: omni.human2humanoid.com] [IEEE Spectrum]

• Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
  Tairan He*, Zhengyi Luo*, Wenli Xiao, Chong Zhang, Kris Kitani, Changliu Liu, Guanya Shi
  2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  [Website: human2humanoid.com] [IEEE Spectrum]