y=rnorm(50)
x1=rnorm(50)
x2=rnorm(50)
unit=rep(1:5,each=10)
time=rep(1:10,5)
unit=as.factor(unit)
time=as.factor(time)
df = data.frame(cbind(y,x1,x2,unit,time))
require(rqpd)
form = y~x1+x2-1 | c(unit,time)
m = rqpd(formula = form, panel = panel(taus=c(0.25, 0.5, 0.75),
       method = 'pfe', tauw=c(.25, .5, .25), lambda = 1), data = df,
     se = 'boot', R=50)
summary(m)

Error in rqpd(formula = form, panel = panel(taus = c(0.25, 0.5, 0.75),  :
Formula must on the form 'y ~ x + ... | s', see documentation.