Qiayuan Liao

I'm a second-year Ph.D. student at Hybrid Robotics, UC Berkeley, advised by Prof. Koushil Sreenath.
I'm a full-stack roboticist dedicated to creating systems achieve agile and robust locomotion and manipulation. Toward this goal, I focus on: (a) Developing novel machines and actuations; (b) Combining learning and model-based methods; (c) Co-designing hardware, learning and control.

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Berkeley Humanoid got accepted to ICRA 2025
Open-source code legged_control got 1000+ stars on GitHub
Open-source code MuJoCo Playground got 600+ stars on GitHub

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
Under Review
Webpage  •   Paper  •   Code

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
Webpage  •   Paper  •   Code

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
Paper  •   Code