Publications

Selected Works:

(Co-)Led by me:

• AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
  Chong Zhang, Victor Klemm, Fan Yang, Marco Hutter
  Under Review
  [Website]

• Attention-Based Map Encoding for Learning Generalized Legged Locomotion
  Junzhe He*, Chong Zhang*, Fabian Jenelten, Ruben Grandia, Moritz Bächer, Marco Hutter
  Science Robotics 2025
  [Free Access Reprint] [Main Video]

• WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
  Chong Zhang*, Wenli Xiao*, Tairan He, Guanya Shi
  2024 CoRL
  Oral Presentation (30/671)
  [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 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 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 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 IROS
  [Video]

• Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning.
  Chong Zhang, Lizhi Yang
  2023 ICRA
  [Github]

• Accessibility-Based Clustering for Efficient Learning of Locomotion Skills.
  Chong Zhang*, Wanming Yu*, Zhibin Li
  2022 ICRA
  [Oral Presentation]

Cooperations:

• Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
  Zewei Zhang, Kehan Wen, Michael Xu, Junzhe He, Chenhao Li, Takahiro Miki, Clemens Schwarke, Chong Zhang, Xue Bin Peng, Marco Hutter
  2026 Under Review
  [Website]

• FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
  Siyuan Luo, Bingyang Zhou, Chong Zhang, Xin Liu, Zhenhao Huang, Gang Yang, Zhengtao Han, Xiaotian Hu, Eric Yang, Rymon Yu, Ziqiu Zeng, Fan Shi
  2026 Arxiv
  [Website: TBD]

• Bridging Adaptivity and Safety: Learning Agile Collision-Free Locomotion Across Varied Physics
  Yichao Zhong, Chong Zhang, Tairan He, Guanya Shi
  2025 L4DC
  [Website] [Video]

• 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 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 IROS
  [Website: human2humanoid.com] [IEEE Spectrum]