publications

2025

1. 

   Learning Steerable Imitation Controllers from Unstructured Animal Motions

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

   2025

   arXiv Bib Supp Website

   @misc{kang2025learning,
     title = {Learning Steerable Imitation Controllers from Unstructured Animal Motions},
     author = {Kang, Dongho and Cheng, Jin and Zargarbashi, Fatemeh and Yoon, Taerim and Choi, Sungjoon and Coros, Stelian},
     year = {2025},
     eprint = {2507.00677},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2507.00677},
   }

2. 

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

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

   2025

   arXiv Bib Website

   @misc{cheng2025rambo,
     title = {RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation},
     author = {Cheng, Jin and Kang, Dongho and Fadini, Gabriele and Shi, Guanya and Coros, Stelian},
     year = {2025},
     eprint = {2504.06662},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2504.06662},
   }

3. 

   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},
   }

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. 

   Spatio-Temporal Motion Retargeting for Quadruped Robots

   Taerim Yoon, Dongho Kang, Seungmin Kim , and 3 more authors

   2024

   arXiv Bib Supp Website

   @misc{yoon2024spatiotemporal,
     title = {Spatio-Temporal Motion Retargeting for Quadruped Robots},
     author = {Yoon, Taerim and Kang, Dongho and Kim, Seungmin and Ahn, Minsung and Coros, Stelian and Choi, Sungjoon},
     year = {2024},
     eprint = {2404.11557},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
   }

3. 

   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},
     year = {2021},
     organization = {IEEE},
     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 Zurich , 2019

   Bib HTML

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