publications

2026

1. 

   HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion

   Mike Zhang, Dongho Kang, Kevin Bergamin , and 19 more authors

   2026

   arXiv Bib

   @misc{zhang2026humble,
     title = {HuMBLE: Human Motion-Driven Behavior Learning for Embodied Locomotion},
     author = {Zhang, Mike and Kang, Dongho and Bergamin, Kevin and Burger, Nicola and Deits, Robin and Foster, Jonathan and Hammoud, Bilal and Hughes, Katie and Iacobelli, Francesco and Koolen, Twan and Mungai, M. Eva and Nobles, Zach and Rozen-Levy, Shane and Sleiman, Jean Pierre and Yu, Fangzhou and Zhang, Yunbo and Rizzi, Alfred and Hodgins, Jessica and Kuindersma, Scott and Abe, Yeuhi and Bertrand, Sylvain and Farshidian, Farbod},
     year = {2026},
     eprint = {2610.10489},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2610.10489},
   }

2. 

   Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning

   Taerim Yoon, Dongho Kang, Kisang Park , and 3 more authors

   2026

   arXiv Bib Website

   @misc{yoon2026learningunionsconvexsets,
     title = {Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning},
     author = {Yoon, Taerim and Kang, Dongho and Park, Kisang and Cha, Junha and Coros, Stelian and Choi, Sungjoon},
     eprint = {2606.12027},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2606.12027},
     year = {2026}
   }

3. 

   Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech

   Taerim Yoon, Dongho Kang, Jin Cheng , and 5 more authors

   2026

   arXiv Bib Website

   @misc{yoon2026teaching,
     title = {Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech},
     author = {Yoon, Taerim and Kang, Dongho and Cheng, Jin and Zargarbashi, Fatemeh and Huang, Yijiang and Ahn, Minsung and Coros, Stelian and Choi, Sungjoon},
     eprint = {2601.08422},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2601.08422},
     year = {2026}
   }

4. 

   Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation

   Lukas Molnar, Jin Cheng, Gabriele Fadini , and 3 more authors

   IEEE Robotics and Automation Letters, 2026

   arXiv Bib HTML Supp Website

   @article{molnar2025whole,
     author = {Molnar, Lukas and Cheng, Jin and Fadini, Gabriele and Kang, Dongho and Zargarbashi, Fatemeh and Coros, Stelian},
     journal = {IEEE Robotics and Automation Letters},
     title = {Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation},
     year = {2026},
     volume = {11},
     number = {1},
     pages = {898-905},
     keywords = {Dynamics;Robots;Robot kinematics;Manipulator dynamics;Legged locomotion;Force;Quadrupedal robots;Foot;Real-time systems;Planning;Legged Robots;Mobile Manipulation;Whole-Body Motion Planning and Control},
     doi = {10.1109/LRA.2025.3636005}
   }

5. 

   Walk Like Dogs: Learning Steerable Imitation Controllers for Legged Robots from Unlabeled Motion Data

   Dongho Kang, Jin Cheng, Fatemeh Zargarbashi , and 3 more authors

   2026

   arXiv Bib Supp Website

   @misc{kang2026walk,
     title = {Walk Like Dogs: Learning Steerable Imitation Controllers for Legged Robots from Unlabeled Motion Data},
     author = {Kang, Dongho and Cheng, Jin and Zargarbashi, Fatemeh and Yoon, Taerim and Choi, Sungjoon and Coros, Stelian},
     year = {2026},
     eprint = {2507.00677},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2507.00677},
   }

2025

1. 

   Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots

   Matthias Heyrman, Chenhao Li, Victor Klemm , and 3 more authors

   2025

   arXiv Bib

   @misc{heyrman2025multi,
     title = {Multi-Domain Motion Embedding: Expressive Real-Time Mimicry for Legged Robots},
     author = {Heyrman, Matthias and Li, Chenhao and Klemm, Victor and Kang, Dongho and Coros, Stelian and Hutter, Marco},
     eprint = {2512.07673},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2512.07673},
     year = {2025}
   }

2. 

   Animal Motion Imitation for Adaptive and Lifelike Control of Legged Robots

   Dongho Kang

   ETH Zürich , 2025

   Bib HTML

   @phdthesis{kang2025animal,
     author = {Kang, Dongho},
     title = {Animal Motion Imitation for Adaptive and Lifelike Control of Legged Robots},
     school = {ETH Z{\"u}rich},
     year = {2025}
   }

3. 

   SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer

   Yarden As, Chengrui (Ray) Qu, Benjamin Unger , and 6 more authors

   In Advances in Neural Information Processing Systems , 2025

   arXiv Bib Website

   @inproceedings{as2025spidr,
     author = {As, Yarden and Qu, Chengrui (Ray) and Unger, Benjamin and Kang, Dongho and van der Hart, Max and Shi, Laixi and Coros, Stelian and Wierman, Adam and Krause, Andreas},
     booktitle = {Advances in Neural Information Processing Systems},
     editor = {Belgrave, D. and Zhang, C. and Lin, H. and Pascanu, R. and Koniusz, P. and Ghassemi, M. and Chen, N.},
     pages = {90882--90924},
     publisher = {Curran Associates, Inc.},
     title = {SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer},
     url = {https://proceedings.neurips.cc/paper_files/paper/2025/file/82eb7f4f7377fc5dc81ca85fc90fa735-Paper-Conference.pdf},
     volume = {38},
     year = {2025},
   }

4. 

   RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation

   Jin Cheng, Dongho Kang, Gabriele Fadini , and 2 more authors

   IEEE Robotics and Automation Letters, 2025

   arXiv Bib HTML Supp Website

   @article{cheng2025rambo,
     author = {Cheng, Jin and Kang, Dongho and Fadini, Gabriele and Shi, Guanya and Coros, Stelian},
     journal = {IEEE Robotics and Automation Letters},
     title = {RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation},
     year = {2025},
     volume = {10},
     number = {9},
     pages = {9462-9469},
     keywords = {Robots;Robot kinematics;Legged locomotion;Computational modeling;Quadrupedal robots;Robustness;End effectors;Training;Foot;Dynamics;Legged robots;reinforcement learning;mobile manipulation},
     doi = {10.1109/LRA.2025.3594984}
   }

5. 

   RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

   Fatemeh Zargarbashi, Jin Cheng, Dongho Kang , and 2 more authors

   In Proceedings of The 8th Conference on Robot Learning , 2025

   arXiv Bib HTML Supp Website

   @inproceedings{zargarbashi2024robot,
     title = {RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards},
     author = {Zargarbashi, Fatemeh and Cheng, Jin and Kang, Dongho and Sumner, Robert and Coros, Stelian},
     booktitle = {Proceedings of The 8th Conference on Robot Learning},
     pages = {916--932},
     year = {2025},
     editor = {Agrawal, Pulkit and Kroemer, Oliver and Burgard, Wolfram},
     volume = {270},
     series = {Proceedings of Machine Learning Research},
     publisher = {PMLR},
   }

6. 

   Spatio-Temporal Motion Retargeting for Quadruped Robots

   Taerim Yoon, Dongho Kang, Seungmin Kim , and 4 more authors

   IEEE Transactions on Robotics, 2025

   arXiv Bib HTML Supp Website

   @article{yoon2025spatiotemporal,
     author = {Yoon, Taerim and Kang, Dongho and Kim, Seungmin and Cheng, Jin and Ahn, Min Sung and Coros, Stelian and Choi, Sungjoon},
     journal = {IEEE Transactions on Robotics},
     title = {Spatio-Temporal Motion Retargeting for Quadruped Robots},
     year = {2025},
     volume = {41},
     number = {},
     pages = {5471-5490},
     keywords = {Robots;Robot kinematics;Legged locomotion;Trajectory;Quadrupedal robots;Artificial intelligence;Training;Kinematics;Videos;Pipelines;Legged robots;learning from demonstration;motion control;motion retargeting},
     doi = {10.1109/TRO.2025.3600123}
   }

2024

1. 

   Meta-Reinforcement Learning for Universal Quadrupedal Locomotion Control

   Fabrizio Di Giuro, Fatemeh Zargarbashi, Jin Cheng , and 3 more authors

   2024

   arXiv Bib Supp

   @misc{digiuro2024meta,
     title = {Meta-Reinforcement Learning for Universal Quadrupedal Locomotion Control},
     author = {Giuro, Fabrizio Di and Zargarbashi, Fatemeh and Cheng, Jin and Kang, Dongho and Sukhija, Bhavya and Coros, Stelian},
     year = {2024},
     eprint = {2407.17502},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2407.17502},
   }

2. 

   Deep Compliant Control for Legged Robots

   Adrian Hartmann, Dongho Kang, Fatemeh Zargarbashi , and 2 more authors

   In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024

   Bib PDF Supp

   @inproceedings{hartmann2024deep,
     author = {Hartmann, Adrian and Kang, Dongho and Zargarbashi, Fatemeh and Zamora, Miguel and Coros, Stelian},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Deep Compliant Control for Legged Robots},
     year = {2024},
     pages = {11421-11427},
     keywords = {Training;Legged locomotion;Uncertainty;Tracking;Perturbation methods;Process control;Energy efficiency},
     doi = {10.1109/ICRA57147.2024.10611209}
   }

2023

1. 

   Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

   Daniel Widmer, Dongho Kang, Bhavya Sukhija , and 3 more authors

   In Proceedings of The 7th Conference on Robot Learning , 2023

   arXiv Bib HTML Supp Website

   @inproceedings{widmer2023turning,
     title = {Tuning Legged Locomotion Controllers via Safe Bayesian Optimization},
     author = {Widmer, Daniel and Kang, Dongho and Sukhija, Bhavya and H\"{u}botter, Jonas and Krause, Andreas and Coros, Stelian},
     booktitle = {Proceedings of The 7th Conference on Robot Learning},
     pages = {2444--2464},
     year = {2023},
     editor = {Tan, Jie and Toussaint, Marc and Darvish, Kourosh},
     volume = {229},
     series = {Proceedings of Machine Learning Research},
     publisher = {PMLR}
   }

2. 

   RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

   Dongho Kang, Jin Cheng, Miguel Zamora , and 2 more authors

   IEEE Robotics and Automation Letters, 2023

   arXiv Bib HTML Supp Website

   @article{kang2023rl,
     author = {Kang, Dongho and Cheng, Jin and Zamora, Miguel and Zargarbashi, Fatemeh and Coros, Stelian},
     journal = {IEEE Robotics and Automation Letters},
     title = {RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion},
     year = {2023},
     volume = {8},
     number = {10},
     pages = {6619-6626},
     doi = {10.1109/LRA.2023.3307008}
   }

2022

1. 

   Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

   Dongho Kang, Flavio De Vincenti, Naomi C. Adami , and 1 more author

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022

   Bib HTML PDF Supp Website

   @inproceedings{kang2022animal,
     title = {Animal Motions on Legged Robots Using Nonlinear Model Predictive Control},
     author = {Kang, Dongho and De Vincenti, Flavio and Adami, Naomi C. and Coros, Stelian},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {11955-11962},
     year = {2022},
     organization = {IEEE},
     doi = {10.1109/IROS47612.2022.9981945}
   }

2. 

   Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

   Dongho Kang, Flavio De Vincenti, and Stelian Coros

   2022

   arXiv Bib Supp Website

   @misc{kang2022nonlinear,
     title = {Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis},
     author = {Kang, Dongho and De Vincenti, Flavio and Coros, Stelian},
     url = {https://arxiv.org/abs/2207.10465},
     year = {2022},
     eprint = {2207.10465},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO}
   }

2021

1. 

   Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

   Dongho Kang, Simon Zimmermann, and Stelian Coros

   In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021

   Bib HTML PDF Supp Website

   @inproceedings{kang2021animal,
     title = {Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control},
     author = {Kang, Dongho and Zimmermann, Simon and Coros, Stelian},
     booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {8500--8507},
     organization = {IEEE},
     year = {2021},
     doi = {10.1109/IROS51168.2021.9635838}
   }

2. 

   Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

   Flavio De Vincenti, Dongho Kang, and Stelian Coros

   In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021

   Bib HTML Supp

   @inproceedings{devincenti2021control,
     title = {Control-Aware Design Optimization for Bio-Inspired Quadruped Robots},
     author = {De Vincenti, Flavio and Kang, Dongho and Coros, Stelian},
     booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {1354--1361},
     organization = {IEEE},
     year = {2021},
     doi = {10.1109/IROS51168.2021.9636415}
   }

2019

1. 

   End-to-End Collision Avoidance from Depth Input with Memory-based Deep Reinforcement Learning

   Dongho Kang

   ETH Zürich , 2019

   Bib HTML

   @mastersthesis{kang2019end,
     title = {End-to-End Collision Avoidance from Depth Input with Memory-based Deep Reinforcement Learning},
     author = {Kang, Dongho},
     school = {ETH Z{\"u}rich},
     year = {2019}
   }