Tangyu Qian — accepted AI-conference papers

2025

A Unified Framework to Learn Collision-Free Loco-Manipulation via Adversarial Motion Priors

Huayang Yin, Tangyu Qian, Mingrui Li, Guanchen Lu, Mingyu Cai, Zhen Kan

IROS 2025

Designing a whole-body controller for loco-manipulation in unstructured real-world environments remains a formidable challenge. Previous approaches have primarily focused on extending the workspace of robotic arms while maintaining quadrupedal landing postures. However, these methods fail to fully e

Cited by 0 Source ↗Scholar ↗

2024

LEEPS: Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains

Tangyu Qian, Hao Zhang, Zhangli Zhou, Hao Wang, Mingyu Cai, Zhen Kan

IROS 2024poster

Empowering legged robots with agile maneuvers is a great challenge. While existing works have proposed diverse control-based and learning-based methods, it remains an open problem to endow robots with animal-like perception and athleticism. Towards this goal, we develop an End-to-End Legged Percepti…

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