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Guanqi He 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
Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning
CoRL (submitted) , 2025
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 (submitted) , 2025
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 (submitted) , 2025
Self-Supervised Meta-Learning for All-Layer DNN-Based Adaptive Control with Stability Guarantees
Guanqi He* , Yogita Choudhary, and Guanya Shi
ICRA 2025 , 2025
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
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
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
Aerial Interaction with Tactile Sensing
Xiaofeng Guo, Guanqi He , Mohammadreza Mousaei, Junyi Geng, Guanya Shi, and Sebastian Scherer
ICRA , 2024
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
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
Image-based visual servo control for aerial manipulation using a fully-actuated uavIn IROS , 2023
Switching-based Adaptive Output Regulation for Uncertain Systems Affected by a Periodic DisturbanceIn ACC , 2022
