Research in robotics and embodied AI.
* Equal contribution. Other author markers follow the original papers
Conference on Robot Learning (CoRL) · 2026
LIFT adds reactive force feedback to pretrained vision-language-action policies while preserving their general manipulation knowledge. By combining causal force memory with online DAgger corrections, it accelerates post-training and improves performance on contact-rich manipulation tasks.
arXiv · 2026
ActiveGlasses is a system for learning robot manipulation from ego-centric human demonstrations with active vision. To enable zero-transfer, we extract object trajectories from demonstrations and use an object-centric point-cloud policy to jointly predict manipulation and head movement.
IEEE Robotics and Automation Letters (RA-L) · 2026 · Best Paper Award at IROS 2025 HRII Workshop
ARMADA is a multi-robot deployment and adaptation system with human-in-the-loop shared control, featuring an autonomous online failure detection method named FLOAT. It enables scalable deployment of pretrained policies and thereby expedites policy adaptation to novel scenarios.
Robotics: Science and Systems (RSS) · 2025
RoboSplat is framework that leverages 3D Gaussian Splatting (3DGS) to generate novel demonstrations for RGB-based policy learning in a one-shot manner, enabling robust performance across six types of visual generalization in the real world.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2025
With modal-level exploration, the robot can generate more diverse and multi-modal interaction data. By learning from the most valuable trials and high-quality segments from these interactions, the robot can effectively refine its capabilities through self-improvement.
Conference on Robot Learning (CoRL) · 2024 · Best Poster Award at CoRL 2024 LocoLearn Workshop
We propose H-Infinity Locomotion Control, an adversarial framework for quadrupedal robots which enhances their robustness against external forces with a performance guarantee.
arXiv · 2024
We proposed GRUtopia, the first simulated interactive 3D society designed for various robots. It features (a)GRScenes, a dataset with 100k interactive and finely annotated scenes. (b) GRResidents, a LLM driven NPC system. (c) GRBench, a benchmark posing moderately challenging tasks.