Publications

Also on Google Scholar.

* Equal contribution. Newest first within each group.

Lead / Co-led by me:

Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

Qingrui Zhao^*, Yiheng Li^*, Xiyu Wang, Shiqi Zhao, Yi Lu, Xinfang Zhang, Qiu Shen, Xiao-Xiao Long, Xun Cao

arXiv preprint arXiv:2603.22201 · Mar 23, 2026

PDF BibTeX Project arXiv

A Survey: Learning Embodied Intelligence from Physical Simulators and World Models

Xiaoxiao Long, Qingrui Zhao, Kaiwen Zhang, Zihao Zhang, Dingrui Wang, Yumeng Liu, Zhengjie Shu, Yi Lu, Shouzheng Wang, Xinzhe Wei, Wei Li, Wei Yin, Yao Yao, Jia Pan, Qiu Shen, Ruigang Yang, Xun Cao, Qionghai Dai

arXiv preprint arXiv:2507.00917 · Jul 1, 2025

PDF BibTeX Code arXiv

LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots

Qingrui Zhao, Mingyuan Li, Yongliang Shi, Xuechao Chen, Zhangguo Yu, Lianqiang Han, Zhenyuan Fu, Jintao Zhang, Chao Li, Yuanxi Zhang, Qiang Huang

2024 IEEE International Conference on Robotics and Automation (ICRA) · May 13, 2024

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Cooperations:

Light-O1: Scaling Whole-Body Intelligence with Human Action Pretraining

Light Origins

Technical Blog · Sep 21, 2026

Code Blog

EMoG: Emotion-Modulated Gait Generation for Expressive Humanoid Locomotion

Yi Lu, Tianhao Jiang, Honglong Tian, Yumeng Zhang, Qingrui Zhao, Zhengtao Wang, Xiao-Xiao Long, Qiu Shen, Xun Cao

arXiv preprint arXiv:2609.14432 · Sep 13, 2026

PDF arXiv Scholar

Light REACT: Building Resilient Whole-Body Intelligence for Scalable Deployment

Light Origins

Technical Blog · Sep 9, 2026

Blog

Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation

Hongming Chen, Zhuoran Li, Hongxi Wang, Jiangpeng Hu, Ziliang Li, Peize Liu, Qingrui Zhao, Xuhao Liu, Liang Pan, Ximin Lyu, Yuntao Ma, Tingxiang Fan

arXiv preprint arXiv:2608.02653 · Aug 1, 2026

PDF arXiv Project