Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. - Jin Cheng 002; Firas Abi-Farraj; Farbod Farshidian; Marco Hutter 001 (IROS, 2022)

Diverse Offline Imitation via Fenchel Duality. - Marin Vlastelica; Pavel Kolev; Jin Cheng 002; Georg Martius (CoRR, 2023)

RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion. - Dongho Kang; Jin Cheng 002; Miguel Zamora; Fatemeh Zargarbashi; Stelian Coros (IEEE Robotics Autom. Lett., 2023)

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards. - Fatemeh Zargarbashi; Jin Cheng 002; Dongho Kang; Robert W. Sumner; Stelian Coros (CoRL, 2024)

Learning Diverse Skills for Local Navigation under Multi-constraint Optimality. - Jin Cheng 002; Marin Vlastelica; Pavel Kolev; Chenhao Li; Georg Martius (ICRA, 2024)

Offline Diversity Maximization under Imitation Constraints. - Marin Vlastelica; Jin Cheng 002; Georg Martius; Pavel Kolev (RLJ, 2024)

Meta-Reinforcement Learning for Universal Quadrupedal Locomotion Control. - Fabrizio Di Giuro; Fatemeh Zargarbashi; Jin Cheng 002; Dongho Kang; Bhavya Sukhija; Stelian Coros (CoRR, 2024)

Learning More With Less: Sample Efficient Dynamics Learning and Model-Based RL for Loco-Manipulation. - Benjamin Hoffman; Jin Cheng 002; Chenhao Li; Stelian Coros (CoRR, 2025)

CAIMAN: Causal Action Influence Detection for Sample Efficient Loco-manipulation. - Yuanchen Yuan; Jin Cheng 002; Núria Armengol Urpí; Stelian Coros (CoRR, 2025)

RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation. - Jin Cheng 002; Dongho Kang; Gabriele Fadini; Guanya Shi; Stelian Coros (CoRR, 2025)

Learning Steerable Imitation Controllers from Unstructured Animal Motions. - Dongho Kang; Jin Cheng 002; Fatemeh Zargarbashi; Taerim Yoon; Sungjoon Choi; Stelian Coros (CoRR, 2025)

Rambo: RL-Augmented Model-Based Whole-Body Control for Loco-Manipulation. - Jin Cheng 002; Dongho Kang; Gabriele Fadini; Guanya Shi; Stelian Coros (IEEE Robotics Autom. Lett., 2025)