Shangqun Yu cv scholar

publications

1. 

   Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control

   Shangqun Yu, Hochul Hwang, Trung Dang, and 4 more authors

   In 2026 IEEE International Conference on Robotics & Automation (ICRA) 2026
2. 

   Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing

   Shangqun Yu, Daniel Wu, Sangjun Park, and 3 more authors

   In arxiv 2025
3. 

   Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains

   Shangqun Yu, Nisal Perera, Daniel Marew, and 1 more author

   In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids) 2024
4. 

   A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

   Daniel Marew, Nisal Perera, Shangqun Yu, and 2 more authors

   In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids) 2024
5. 

   StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe

   Nisal Perera, Shangqun Yu, Daniel Marew, and 6 more authors

   In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
6. 

   Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot

   Neil Guan, Shangqun Yu, Shifan Zhu, and 1 more author

   In 2024 21st International Conference on Ubiquitous Robots (UR) 2024
7. 

   Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion

   Daniel Marew, Misha Lvovsky, Shangqun Yu, and 2 more authors

   In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) 2023
8. 

   Dynamic Object Avoidance using Event-Data for a Quadruped Robot

   Shifan Zhu, Nisal Perera, Shangqun Yu, and 2 more authors

   IROS IPPC Workshop 2023

   As robots increase in agility and encounter fast- moving objects, dynamic object detection and avoidance become notably challenging. Traditional RGB cameras, burdened by motion blur and high latency, often act as the bottleneck. Event cameras have recently emerged as a promising solution for the challenges related to rapid movement. In this paper, we introduce a dynamic object avoidance framework that integrates both event and RGBD cameras. Specifically, this framework first estimates and compensates for the event’s motion to detect dynamic objects. Subsequently, depth data is combined to derive a 3D trajectory. When initiating from a static state, the robot adjusts its height based on the predicted collision point to avoid the dynamic obstacle. Through real-world experiments with the Mini-Cheetah, our approach successfully circumvents dynamic objects at speeds up to 5 m/s, achieving an 83% success rate. Supplemental video:

   @article{zhu2023dynamic,
     title = {Dynamic Object Avoidance using Event-Data for a Quadruped Robot},
     author = {Zhu, Shifan and Perera, Nisal and Yu, Shangqun and Hwang, Hochul and Kim, Donghyun},
     journal = {IROS IPPC Workshop},
     year = {2023},
     video = {https://www.youtube.com/watch?v=wEPvynkVlLA},
   }

9. 

   Meta-learning Parameterized Skills

   Haotian Fu, Shangqun Yu, Saket Tiwari, and 2 more authors

   In Proceedings of the 40th International Conference on Machine Learning 23–29 jul 2023

   PDF

   We propose a novel parameterized skill-learning algorithm that aims to learn transferable parameterized skills and synthesize them into a new action space that supports efficient learning in long-horizon tasks. We propose to leverage off-policy Meta-RL combined with a trajectory-centric smoothness term to learn a set of parameterized skills. Our agent can use these learned skills to construct a three-level hierarchical framework that models a Temporally-extended Parameterized Action Markov Decision Process. We empirically demonstrate that the proposed algorithms enable an agent to solve a set of highly difficult long-horizon (obstacle-course and robot manipulation) tasks.

10. 

    Model-based Lifelong Reinforcement Learning with Bayesian Exploration

    Haotian Fu, Shangqun Yu, Michael Littman, and 1 more author

    In Advances in Neural Information Processing Systems 23–29 jul 2022
11. 

    Q-functionals for Value-Based Continuous Control

    Samuel Lobel, Sreehari Rammohan, Bowen He, and 2 more authors

    Proceedings of the AAAI Conference on Artificial Intelligence Jun 2023