Interactive World Simulator for Robot Policy Training and Evaluation
Published in arXiv preprint, 2026
Publications
A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
Published in arXiv preprint, 2026
ERA: Transforming VLMs into Embodied Agents via Embodied Prior Learning and Online Reinforcement Learning
Published in arXiv preprint, 2025
Learning contact-rich whole-body manipulation with example-guided reinforcement learning
Published in Science Robotics, 2025
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
Published in arXiv preprint, 2025
Plan-Guided Reinforcement Learning for Whole-Body Manipulation
Published in Workshop on Leveraging Models for Contact-Rich Manipulation at IROS 2023, 2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Published in Robotics: Science and Systems (RSS), 2023
Non-Penetration Iterative Closest Points for Single-View Multi-Object 6D Pose Estimation
Published in IEEE International Conference on Robotics and Automation (ICRA), 2022
Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrain
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
