Shuo Yang

Shuo Yang

Co-founder and CTO of Mondo Robotics

Publications

DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control

Published in arXiv preprint arXiv:2603.10448, 2026

A video-action Diffusion Transformer framework for generalizable robot control.

Recommended citation: Ma, Teli and Zheng, Jia and Wang, Zifan and Jiang, Chunli and Cui, Andy and Liang, Junwei and Yang, Shuo. "DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control." arXiv preprint arXiv:2603.10448, 2026. https://arxiv.org/abs/2603.10448

Fast Contact-implicit Model Predictive Control

Published in IEEE Transactions on Robotics, 2024

Contact-implicit model predictive control.

Recommended citation: Le Cleach, Simon and Howell, Taylor A and Yang, Shuo and Lee, Chi-Yen and Zhang, John and Bishop, Arun and Schwager, Mac and Manchester, Zachary. "Fast Contact-implicit Model Predictive Control." IEEE Transactions on Robotics.

Multi-IMU Proprioceptive Odometry for Legged Robots

Published in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Multi-IMU proprioceptive odometry for legged robots.

Recommended citation: Yang S, Zhang Z, Bokser B, et al. Multi-IMU Proprioceptive Odometry for Legged Robots[C]//2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023: 774-779.

Cerberus: Low-Drift Visual-Inertial-Leg Odometry for Agile Locomotion

Published in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

Visual-inertial-leg odometry for agile locomotion.

Recommended citation: Shuo Yang, Zixin Zhang, Zhengyu Fu, and Zachary Manchester. "Cerberus: Low-Drift Visual-Inertial-Leg Odometry for Agile Locomotion." In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.

Enhanced Balance for Legged Robots Using Reaction Wheels

Published in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

An MPC controller for a novel quadruped robot.

Recommended citation: Chi-yen Lee, Shuo Yang, Benjamin Bokser, and Zachary Manchester. "Enhanced Balance for Legged Robots Using Reaction Wheels." In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2023.

Online Kinematic Calibration for Legged Robots

Published in IEEE Robotics and Automation Letters & 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Online calibration of kinematic parameters for legged robots.

Recommended citation: Yang, Shuo and Choset, Howie and Manchester, Zachary. "Online Kinematic Calibration for Legged Robots," in IEEE Robotics and Automation Letters, 2022, doi: 10.1109/LRA.2022.3186501 https://ieeexplore.ieee.org/document/9807408

Equality Constrained Linear Optimal Control with Factor Graphs

Published in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

A theoretical attempt to unify trajectory generation and state estimation.

Recommended citation: Yang, Shuo, Gerry Chen, Yetong Zhang, Howie Choset, and Frank Dellaert. "Equality constrained linear optimal control with factor graphs." In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 9717-9723. IEEE, 2021. https://ieeexplore.ieee.org/abstract/document/9562000

High performance full attitude control of a quadrotor on SO(3)

Published in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015

A quadrotor controller developed by me and my DJI colleagues.

Recommended citation: Yu, Yun, Shuo Yang, Mingxi Wang, Cheng Li, and Zexiang Li. "High performance full attitude control of a quadrotor on SO (3)." In 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1698-1703. IEEE, 2015. https://ieeexplore.ieee.org/abstract/document/7139416