Welcome to the LeCAR (Learning and Control for Agile Robotics) lab website! We are affiliated with the Robotics Institute and the School of Computer Science at Carnegie Mellon University. We are broadly interested in the intersection of AI, robotics, and control, spanning the entire spectrum from theory and foundations, algorithm design, to real-world general-purpose robotic systems such as humanoids. We develop reliable, adaptive, and efficient learning and control methods for generalist robots with agility. See our publications and research topics for more details.

• 2025-10-21: Congratulations to Zeji for receiving the Amazon AI Ph.D. Fellowship, and Wenli for receiving the CMU RI Presidential Fellowship!
• 2025-08-01: SPI-Active (oral), HoldMyBeer, and Humanoid~Human accepted to CoRL 2025.
• 2025-04-11: ASAP and Flying Hand accepted to RSS 2025.
• 2025-02-10: Congratulations to Zeji for receiving the CMU Wei Shen and Xuehong Zhang Presidential Fellowship, and Chaoyi for receiving the Hsu Chang Memorial Fellowship!
• 2025-01-30: 8 papers accepted to ICRA 2025 and DIAL-MPC is a Best Paper Award Finalist!
• 2024-12-18: Congratulations to Tairan for receiving the CMU RI Presidential Fellowship and the NVIDIA Fellowship!
• 2024-10-15: Guanya gave talks at CMU RI Seminar and Michigan AI Symposium. Check out the recording.
• 2024-10-09: Flying Calligrapher accepted to RA-L.
• 2024-09-04: Guanya gave a talk at the Georgia Tech IRIM Seminar.
• 2024-09-04: Two papers accepted to CoRL 2024 and one paper to NeurIPS 2024.
• 2024-07-19: ABS is the Outstanding Student Paper Award Finalist at RSS 2024.
• 2024-06-14: OmniH2O and WoCoCo are on Video Friday (weekly selection of robot videos by IEEE Spectrum).
• 2024-06-13: ABS in CMU news "Swift and Secure: Researchers Develop Collision-Free, High-Speed Robots".
• 2024-05-13: Two papers accepted to RSS 2024.
• 2024-03-09: ABS and H2O are on Video Friday (weekly selection of robot videos by IEEE Spectrum).