Qiayuan Liao
I'm a third-year Ph.D. student at Hybrid Robotics, UC Berkeley, advised by Prof. Koushil Sreenath.
Previously, I was a research intern at Boston Dynamics, where I was fortunate to work with Scott Kuindersma on reinforcement-learning control for the E-Atlas.
I'm a full-stack roboticist dedicated to creating systems that achieve agile and robust locomotion and manipulation. Toward this goal, I focus on:
(a) Developing novel mechanisms and actuation systems via data-driven co-design;
(b) Unifying learning with planning, estimation, and control.
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BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
Qiayuan Liao*, Takara Truong*, Xiaoyu Huang*, Guy Tevet, Koushil Sreenath†, C. Karen Liu†
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MuJoCo Playground
Kevin Zakka*, Baruch Tabanpour*, Qiayuan Liao*, Mustafa Haiderbhai*, Samuel Holt*, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder A. Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
Robotics: Science and Systems (RSS) 2025
★ Outstanding Demo Paper Award, RSS ★
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Berkeley Humanoid A Research Platform for Learning-based Control
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
International Conference on Robotics and Automation (ICRA), 2025
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Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Qiayuan Liao, Bike Zhang, Xuanyu Huang, Xiaoyu Huang, Zhongyu Li, Koushil Sreenath
International Conference on Intelligent Robots and Systems (IROS), 2023
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