HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. - Wenxuan Zhou 001; Bowen Jiang; Fan Yang 144; Chris Paxton 001; David Held (CoRL, 2023)

Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation. - Wenxuan Zhou 001; Bowen Jiang; Fan Yang 144; Chris Paxton 001; David Held (CoRR, 2023)

Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. - Zixuan Huang; Yating Lin; Fan Yang 144; Dmitry Berenson (ICRA, 2024)

Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization. - Fan Yang 144; Wenxuan Zhou 001; Zuxin Liu; Ding Zhao; David Held (ICRA, 2024)

Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation. - Abhinav Kumar; Thomas Power; Fan Yang 144; Sergio Aguilera Marinovic; Soshi Iba; Rana Soltani-Zarrin; Dmitry Berenson (ICRA, 2025)

Multi-Finger Manipulation via Trajectory Optimization With Differentiable Rolling and Geometric Constraints. - Fan Yang 144; Thomas Power; Sergio Aguilera Marinovic; Soshi Iba; Rana Soltani-Zarrin; Dmitry Berenson (IEEE Robotics Autom. Lett., 2025)

AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use. - Yating Lin; Zixuan Huang; Fan Yang 144; Dmitry Berenson (CoRR, 2025)

Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation. - Abhinav Kumar; Fan Yang 144; Sergio Aguilera Marinovic; Soshi Iba; Rana Soltani-Zarrin; Dmitry Berenson (CoRR, 2025)

AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation. - Adam Hung; Fan Yang 144; Abhinav Kumar; Sergio Aguilera Marinovic; Soshi Iba; Rana Soltani-Zarrin; Dmitry Berenson (CoRR, 2025)

Leveraging Neural Descriptor Fields for Learning Contact-Aware Dynamic Recovery. - Fan Yang 144; Zixuan Huang; Abhinav Kumar; Sergio Aguilera Marinovic; Soshi Iba; Rana Soltani-Zarrin; Dmitry Berenson (CoRR, 2025)