Publications

You can also find my articles on my Google Scholar profile.

Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions Permalink

Published in , 2025

We present a unified general humanoid motion interface and a zero-shot sim-to-real reinforcement learning framework, so that humanoid robots can successfully perform extreme contact-agnostic motion in the real world. Getup

Recommended citation: Ziwen Zhuang and Hang Zhao. "Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions." (2025).

Humanoid Parkour Learning Permalink

Published in Conference on Robot Learning, 2024

A single vision-based end-to-end whole-body-control parkour policy for humanoid robots. Parkour

Recommended citation: Zhuang, Z., Yao, S., & Zhao, H. (2024). Humanoid Parkour Learning. 8th Annual Conference on Robot Learning.

Robot Parkour Learning Permalink

Published in CoRL (Oral) Best system paper finalist, 2023

An end-to-end neural network for Quadruped robot with extreme agility skills Parkour

Recommended citation: Ziwen Zhuang*, Zipeng Fu*, Jianren Wang, Christopher G Atkeson, Soren Schwertfeger, Chelsea Finn, & Hang Zhao (2023). Robot Parkour Learning. In 7th Annual Conference on Robot Learning.