Guanqi He

Carnegie Mellon University, Robotics Institute, Master of Science in Robotics.

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I am a second year master student in Robotics Institution at Carnegie Mellon University. I am currently working at LeCAR Lab and Air Lab, co-advised by Prof. Guanya Shi and Prof. Sebastian Scherer. Previously I worked with Prof. Yang Wang at MAgIC Lab at ShanghaiTech University.

My work focuses on designing algorithms to help robots handle environmental disturbances and model uncertainty. I aim to enpower robotic systems to dynamically adapt environment changes in real-time and learn continuously in real-world scenarios, utilizing methodologies from both the learning and control communities.



News



Publications

  1. OMGComposition.jpg
    OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
    Siqiao Huang*, Kun-Ying Lee*, Dongming Qiao*, Guanqi He*, Zhenyu Wang, Yitang Li, Shaoting Zhu, and Hang Zhao
    arXiv preprint arXiv:2606.10340, 2026
    PDF Code Website
  2. TopoRetarget.jpg
    TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
    Jielin Wu*, Shenzhe Yao*, Guanqi He*, Xiaohan Liu*, Zhaoqing Zeng, Xiangrui Jiang, Han Yang, Wentao Zhang, and Hang Zhao
    arXiv preprint arXiv:2606.16272, 2026
    PDF Code Website
  3. HoldMyBeer.png
    Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
    Yitang Li, Yuanhang Zhang, Wenli Xiao, Chaoyi Pan, Haoyang Weng, Guanqi He, Tairan He, and Guanya Shi
    CoRL 2025, 2025
    PDF Code Website
  4. SPIActive.jpg
    Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
    Nikhil Sobanbabu*, Guanqi He*, Tairan He, Yuxiang Yang, and Guanya Shi
    CoRL 2025, 2025
    PDF Code Website
  5. FlyingHand.jpg
    Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning
    Guanqi He*, Xiaofeng Guo*, Luyi Tang, Yuanghang Zhang, Jiahe Xu, Mohammadreza Mousaei, Junyi Geng, Sebastian Scherer, and Guanya Shi
    RSS 2025, 2025
    PDF Code Website
  6. ASAP.jpg
    ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
    Tairan He*, Jiawei Gao*, Wenli Xiao*, Yuanhang Zhang*, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi "Jim" Fan, Yuke Zhu, Changliu Liu, and Guanya Shi
    RSS 2025, 2025
    PDF Code Website
  7. 2024_SSML-AC.png
    Self-Supervised Meta-Learning for All-Layer DNN-Based Adaptive Control with Stability Guarantees
    Guanqi He*, Yogita Choudhary, and Guanya Shi
    ICRA 2025, 2025
    PDF Website
  8. FlyingCalligrapher.jpg
    Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
    Xiaofeng Guo*, Guanqi He*, Junyi Geng, Sebastian Scherer, and Guanya Shi
    RA-L 2024, 2024
    PDF Website
  9. ABS.jpg
    Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
    Tairan He*, Chong Zhang*, Wenli Xiao, Guanqi He, Changliu Liu, and Guanya Shi
    RSS, 2024
    PDF Code Website
  10. CoVO.jpg
    CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design
    Zeji Yi*, Chaoyi Pan*, Guanqi He, Guannan Qu, and Guanya Shi
    L4DC, 2024
    PDF Website
  11. ICRA2024.png
    Aerial Interaction with Tactile Sensing
    Xiaofeng Guo, Guanqi He, Mohammadreza Mousaei, Junyi Geng, Guanya Shi, and Sebastian Scherer
    ICRA, 2024
    PDF Website
  12. IROS2023.PNG
    Image-based visual servo control for aerial manipulation using a fully-actuated uav
    Guanqi He*, Yash Jangir*, Junyi Geng, Mohammadreza Mousaei, Dongwei Bai, and Sebastian Scherer
    In IROS , 2023
    PDF
  13. ACC.jpg
    Switching-based Adaptive Output Regulation for Uncertain Systems Affected by a Periodic Disturbance
    Guanqi He, Yang Wang, Gilberto Pin, Andrea Serrani, and Thomas Parisini
    In ACC , 2022
    PDF