About Me

I am a first-year Ph.D. student in Mechanical Engineering at UC Berkeley, advised by Prof. Koushil Sreenath in the Hybrid Robotics Group.

My research focuses on Robotics, Reinforcement Learning (RL) and Generative Models.

I received my B.S. in Modern Mechanics from USTC.

Publications

Yiyang Shao, Xiaoyu Huang, Bike Zhang, Qiayuan Liao, Yuman Gao, Yufeng Chi, Zhongyu Li, Sophia Shao, Koushil Sreenath

Robotics: Science and Systems (RSS), 2025

Learning for Safe Multiple Heterogeneous Quadcopter Control via Generalizable Barrier Certificate

Developed a heterogeneous safe controller for quadcopters with generalizable barrier certificate.
Simultaneously learn the control barrier function and constrained control policy.
Online system identification from observation history for heterogeneous adaptation.

Geometry Variation Model Predictive Control For Bipedal Robot

Geometry representation of system dynamic, invariant to coordinate system and free from singularity.
Variation-based linearization of system dynamic to ensure the discretized system is energy-conserving.
Enable stable walking of a bipedal robot via convex MPC.

State Estimation and Control of a Wheeled-Bipedal Robot

Developed a robust state estimation and high-performance control algorithm for a wheeled-bipedal robot.
Detect slipping based on the velocity difference of wheels' contact points with the ground in the inertial frame.
Designed LQR controller based on whole-body dynamics.

SLAM and Navigation of an Omnidirectional Robot

Develop a navigation system for a mobile robot to navigate through uneven terrain.
Enhance localization frequency and accuracy by integrating lidar, IMU, and encoder data using a Kalman filter.
Analyze terrain traversability through point cloud segmentation.