Data-driven haptic perception for robot-assisted dressing. - Ariel Kapusta; Wenhao Yu 003; Tapomayukh Bhattacharjee; C. Karen Liu; Greg Turk; Charles C. Kemp (RO-MAN, 2016)

Dexterous Manipulation of Cloth. - Yunfei Bai; Wenhao Yu 003; C. Karen Liu (Comput. Graph. Forum, 2016)

What does the person feel? Learning to infer applied forces during robot-assisted dressing. - Zackory Erickson; Alexander Clegg; Wenhao Yu 003; Greg Turk; C. Karen Liu; Charles C. Kemp (ICRA, 2017)

Haptic simulation for robot-assisted dressing. - Wenhao Yu 003; Ariel Kapusta; Jie Tan 001; Charles C. Kemp; Greg Turk; C. Karen Liu (ICRA, 2017)

Learning to navigate cloth using haptics. - Alexander Clegg; Wenhao Yu 003; Zackory Erickson; Jie Tan 001; C. Karen Liu; Greg Turk (IROS, 2017)

Preparing for the Unknown: Learning a Universal Policy with Online System Identification. - Wenhao Yu 003; Jie Tan 001; C. Karen Liu; Greg Turk (Robotics: Science and Systems, 2017)

Learning to Navigate Cloth using Haptics. - Alexander Clegg; Wenhao Yu 003; Zackory Erickson; C. Karen Liu; Greg Turk (CoRR, 2017)

Preparing for the Unknown: Learning a Universal Policy with Online System Identification. - Wenhao Yu 003; C. Karen Liu; Greg Turk (CoRR, 2017)

Learning Human Behaviors for Robot-Assisted Dressing. - Alexander Clegg; Wenhao Yu 003; Jie Tan 001; Charlie C. Kemp; Greg Turk; C. Karen Liu (CoRR, 2017)

Multi-task Learning with Gradient Guided Policy Specialization. - Wenhao Yu 003; Greg Turk; C. Karen Liu (CoRR, 2017)

Learning Symmetry and Low-energy Locomotion. - Wenhao Yu 003; Greg Turk; C. Karen Liu (CoRR, 2018)

Learning to dress: synthesizing human dressing motion via deep reinforcement learning. - Alexander Clegg; Wenhao Yu 003; Jie Tan 001; C. Karen Liu; Greg Turk (ACM Trans. Graph., 2018)

Learning symmetric and low-energy locomotion. - Wenhao Yu 003; Greg Turk; C. Karen Liu (ACM Trans. Graph., 2018)

Policy Transfer with Strategy Optimization. - Wenhao Yu 003; C. Karen Liu; Greg Turk (ICLR (Poster), 2019)

Learning Novel Policies For Tasks. - Yunbo Zhang; Wenhao Yu 003; Greg Turk (ICML, 2019)

Sim-to-Real Transfer for Biped Locomotion. - Wenhao Yu 003; Visak C. V. Kumar; Greg Turk; C. Karen Liu (IROS, 2019)

Personalized collaborative plans for robot-assisted dressing via optimization and simulation. - Ariel Kapusta; Zackory Erickson; Henry M. Clever; Wenhao Yu 003; C. Karen Liu; Greg Turk; Charles C. Kemp (Auton. Robots, 2019)

Learning Fast Adaptation With Meta Strategy Optimization. - Wenhao Yu 003; Jie Tan 001; Yunfei Bai; Erwin Coumans; Sehoon Ha (IEEE Robotics Autom. Lett., 2020)

Learning to manipulate amorphous materials. - Yunbo Zhang; Wenhao Yu 003; C. Karen Liu; Charlie C. Kemp; Greg Turk (ACM Trans. Graph., 2020)

Learning to walk using deep reinforcement learning and transfer learning. - Wenhao Yu 003 (2020)

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. - Wenhao Yu 003; Deepali Jain; Alejandro Escontrela; Atil Iscen; Peng Xu 010; Erwin Coumans; Sehoon Ha; Jie Tan 001; Tingnan Zhang (CoRL, 2021)

Protective Policy Transfer. - Wenhao Yu 003; C. Karen Liu; Greg Turk (ICRA, 2021)

Policy Transfer via Kinematic Domain Randomization and Adaptation. - Ioannis Exarchos; Yifeng Jiang 002; Wenhao Yu 003; C. Karen Liu (ICRA, 2021)

COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing. - Zhuo Xu; Wenhao Yu 003; Alexander Herzog; Wenlong Lu; Chuyuan Fu; Masayoshi Tomizuka; Yunfei Bai; C. Karen Liu; Daniel Ho (IROS, 2021)

Learning Human Search Behavior from Egocentric Visual Inputs. - Maks Sorokin; Wenhao Yu 003; Sehoon Ha; C. Karen Liu (Comput. Graph. Forum, 2021)

Learning and Fast Adaptation for Grid Emergency Control via Deep Meta Reinforcement Learning. - Renke Huang; Yujiao Chen; Tianzhixi Yin; Qiuhua Huang; Jie Tan 001; Wenhao Yu 003; Xinya Li 002; Ang Li 006; Yan Du (CoRR, 2021)

Physics-informed Evolutionary Strategy based Control for Mitigating Delayed Voltage Recovery. - Yan Du; Qiuhua Huang; Renke Huang; Tianzhixi Yin; Jie Tan 001; Wenhao Yu 003; Xinya Li 002 (CoRR, 2021)

Learning Semantics-Aware Locomotion Skills from Human Demonstration. - Yuxiang Yang 007; Xiangyun Meng; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Byron Boots (CoRL, 2022)

Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. - Alejandro Escontrela; Xue Bin Peng; Wenhao Yu 003; Tingnan Zhang; Atil Iscen; Ken Goldberg; Pieter Abbeel (IROS, 2022)

PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations. - Kuang-Huei Lee; Ofir Nachum; Tingnan Zhang; Sergio Guadarrama; Jie Tan 001; Wenhao Yu 003 (IROS, 2022)

Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. - He Li; Wenhao Yu 003; Tingnan Zhang; Patrick M. Wensing (IROS, 2022)

Safe Reinforcement Learning for Legged Locomotion. - Tsung-Yen Yang; Tingnan Zhang; Linda Luu; Sehoon Ha; Jie Tan 001; Wenhao Yu 003 (IROS, 2022)

Efficient Learning of Voltage Control Strategies via Model-based Deep Reinforcement Learning. - Ramij Raja Hossain; Tianzhixi Yin; Yan Du; Renke Huang; Jie Tan 001; Wenhao Yu 003; Yuan Liu 023; Qiuhua Huang (CoRR, 2022)

Robot Learning From Randomized Simulations: A Review. - Fabio Muratore; Fabio Ramos 001; Greg Turk; Wenhao Yu 003; Michael Gienger; Jan Peters 001 (Frontiers Robotics AI, 2022)

Language to Rewards for Robotic Skill Synthesis. - Wenhao Yu 003; Nimrod Gileadi; Chuyuan Fu; Sean Kirmani; Kuang-Huei Lee; Montserrat Gonzalez Arenas; Hao-Tien Lewis Chiang; Tom Erez; Leonard Hasenclever; Jan Humplik; Brian Ichter; Ted Xiao; et al. (CoRL, 2023)

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. - Joanne Taery Kim; Wenhao Yu 003; Yash Kothari; Bruce N. Walker; Jie Tan 001; Greg Turk; Sehoon Ha (CoRL, 2023)

SayTap: Language to Quadrupedal Locomotion. - Yujin Tang; Wenhao Yu 003; Jie Tan 001; Heiga Zen; Aleksandra Faust; Tatsuya Harada (CoRL, 2023)

CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller. - Yuxiang Yang 007; Guanya Shi; Xiangyun Meng; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Byron Boots (CoRL, 2023)

How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling. - Joanne Taery Kim; Wenhao Yu 003; Jie Tan 001; Greg Turk; Sehoon Ha (HRI (Companion), 2023)

Constrained Decision Transformer for Offline Safe Reinforcement Learning. - Zuxin Liu; Zijian Guo 002; Yihang Yao; Zhepeng Cen; Wenhao Yu 003; Tingnan Zhang; Ding Zhao (ICML, 2023)

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. - He Li; Tingnan Zhang; Wenhao Yu 003; Patrick M. Wensing (ICRA, 2023)

A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. - He Li; Wenhao Yu 003; Tingnan Zhang; Patrick M. Wensing (IROS, 2023)

Perceptive Hexapod Legged Locomotion for Climbing Joist Environments. - Zixian Zang; Maxime Kawawa-Beaudan; Wenhao Yu 003; Tingnan Zhang; Avideh Zakhor (IROS, 2023)

Digitization of Traffic Laws: Methodologies and Usage for Monitoring Driving Compliance. - Chengxiang Zhao; Wenhao Yu 003; Xiaohan Ma; Yuzhuang Zhao; Boqi Li 001; Weida Wang; Jia Hu 003; Hong Wang 007; Ding Zhao (ITSC, 2023)

Continuous Versatile Jumping Using Learned Action Residuals. - Yuxiang Yang 007; Xiangyun Meng; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Byron Boots (L4DC, 2023)

Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning. - Yihang Yao; Zuxin Liu; Zhepeng Cen; Jiacheng Zhu; Wenhao Yu 003; Tingnan Zhang; Ding Zhao (NeurIPS, 2023)

Barkour: Benchmarking Animal-level Agility with Quadruped Robots. - Ken Caluwaerts; Atil Iscen; J. Chase Kew; Wenhao Yu 003; Tingnan Zhang; Daniel Freeman; Kuang-Huei Lee; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; et al. (CoRR, 2023)

Datasets and Benchmarks for Offline Safe Reinforcement Learning. - Zuxin Liu; Zijian Guo 002; Haohong Lin; Yihang Yao; Jiacheng Zhu; Zhepeng Cen; Hanjiang Hu; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Ding Zhao (CoRR, 2023)

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. - Joanne Taery Kim; Wenhao Yu 003; Yash Kothari; Jie Tan 001; Greg Turk; Sehoon Ha (CoRR, 2023)

Toward Intelligent Emergency Control for Large-scale Power Systems: Convergence of Learning, Physics, Computing and Control. - Qiuhua Huang; Renke Huang; Tianzhixi Yin; Sohom Datta; Xueqing Sun; Z. Jason Hou; Jie Tan 001; Wenhao Yu 003; Yuan Liu 023; Xinya Li 002; Bruce Palmer; Ang Li 006; et al. (CoRR, 2023)

Creative Robot Tool Use with Large Language Models. - Mengdi Xu; Peide Huang; Wenhao Yu 003; Shiqi Liu 005; Xilun Zhang; Yaru Niu; Tingnan Zhang; Fei Xia 002; Jie Tan 001; Ding Zhao (CoRR, 2023)

Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination. - Duy Phuong Nguyen; Kai-Chieh Hsu; Wenhao Yu 003; Jie Tan 001; Jaime Fernández Fisac (CoRL, 2024)

Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs. - Zhuo Xu; Hao-Tien Lewis Chiang; Zipeng Fu; Mithun George Jacob; Tingnan Zhang; Tsang-Wei Edward Lee; Wenhao Yu 003; Connor Schenck; David Rendleman; Dhruv Shah; Fei Xia 002; Jasmine Hsu; et al. (CoRL, 2024)

RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches. - Jiayuan Gu; Sean Kirmani; Paul Wohlhart; Yao Lu 006; Montserrat Gonzalez Arenas; Kanishka Rao; Wenhao Yu 003; Chuyuan Fu; Keerthana Gopalakrishnan; Zhuo Xu; Priya Sundaresan; Peng Xu 010; et al. (ICLR, 2024)

PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs. - Soroush Nasiriany; Fei Xia 002; Wenhao Yu 003; Ted Xiao; Jacky Liang; Ishita Dasgupta 001; Annie Xie; Danny Driess; Ayzaan Wahid; Zhuo Xu; Quan Vuong; Tingnan Zhang; et al. (ICML, 2024)

The Design of the Barkour Benchmark for Robot Agility. - Wenhao Yu 003; Ken Caluwaerts; Atil Iscen; J. Chase Kew; Tingnan Zhang; Daniel Freeman; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; Federico Casarini; et al. (IROS, 2024)

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators. - Changyi Lin; Xingyu Liu 001; Yuxiang Yang 007; Yaru Niu; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Byron Boots; Ding Zhao (IROS, 2024)

Versatile Locomotion Skills for Hexapod Robots. - Tomson Qu; Dichen Li; Avideh Zakhor; Wenhao Yu 003; Tingnan Zhang (IROS, 2024)

CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments. - Adarsh Jagan Sathyamoorthy; Kasun Weerakoon; Mohamed Elnoor; Anuj Zore; Brian Ichter; Fei Xia 002; Jie Tan 001; Wenhao Yu 003; Dinesh Manocha (IROS, 2024)

Gradient shaping for multi-constraint safe reinforcement learning. - Yihang Yao; Zuxin Liu; Zhepeng Cen; Peide Huang; Tingnan Zhang; Wenhao Yu 003; Ding Zhao (L4DC, 2024)

OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning. - Yihang Yao; Zhepeng Cen; Wenhao Ding; Haohong Lin; Shiqi Liu 005; Tingnan Zhang; Wenhao Yu 003; Ding Zhao (NeurIPS, 2024)

Learning to Learn Faster from Human Feedback with Language Model Predictive Control. - Jacky Liang; Fei Xia 002; Wenhao Yu 003; Andy Zeng 001; Maria Attarian; Maria Bauzá Villalonga; Matthew Bennice; Alex Bewley; Adil Dostmohamed; Chuyuan Fu; Nimrod Gileadi; Marissa Giustina; et al. (Robotics: Science and Systems, 2024)

Learning to Learn Faster from Human Feedback with Language Model Predictive Control. - Jacky Liang; Fei Xia 002; Wenhao Yu 003; Andy Zeng 001; Montserrat Gonzalez Arenas; Maria Attarian; Maria Bauzá 001; Matthew Bennice; Alex Bewley; Adil Dostmohamed; Chuyuan Kelly Fu; Nimrod Gileadi; et al. (CoRR, 2024)

Gameplay Filters: Safe Robot Walking through Adversarial Imagination. - Duy Phuong Nguyen; Kai-Chieh Hsu; Wenhao Yu 003; Jie Tan 001; Jaime F. Fisac (CoRR, 2024)

Agile Continuous Jumping in Discontinuous Terrains. - Yuxiang Yang 007; Guanya Shi; Changyi Lin; Xiangyun Meng; Rosario Scalise; Mateo Guaman Castro; Wenhao Yu 003; Tingnan Zhang; Ding Zhao; Jie Tan 001; Byron Boots (CoRR, 2024)

Vision Language Models are In-Context Value Learners. - Yecheng Jason Ma; Joey Hejna; Ayzaan Wahid; Chuyuan Fu; Dhruv Shah; Jacky Liang; Zhuo Xu; Sean Kirmani; Peng Xu 010; Danny Driess; Ted Xiao; Jonathan Tompson; et al. (CoRR, 2024)

Learning Multi-Agent Loco-Manipulation for Long-Horizon Quadrupedal Pushing. - Yuming Feng; Chuye Hong; Yaru Niu; Shiqi Liu 005; Yuxiang Yang 007; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Ding Zhao (CoRR, 2024)

Efficient learning of power grid voltage control strategies via model-based deep reinforcement learning. - Ramij Raja Hossain; Tianzhixi Yin; Yan Du; Renke Huang; Jie Tan 001; Wenhao Yu 003; Yuan Liu 023; Qiuhua Huang (Mach. Learn., 2024)

IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors Without Any Outdoor Experience. - Joanne Truong; April Zitkovich; Sonia Chernova; Dhruv Batra; Tingnan Zhang; Jie Tan 001; Wenhao Yu 003 (IEEE Robotics Autom. Lett., 2024)

Vision Language Models are In-Context Value Learners. - Yecheng Jason Ma; Joey Hejna; Chuyuan Fu; Dhruv Shah; Jacky Liang; Zhuo Xu; Sean Kirmani; Peng Xu 010; Danny Driess; Ted Xiao; Osbert Bastani; Dinesh Jayaraman; et al. (ICLR, 2025)

Learning-based legged locomotion: State of the art and future perspectives. - Sehoon Ha; Joonho Lee; Michiel van de Panne; Zhaoming Xie; Wenhao Yu 003; Majid Khadiv (Int. J. Robotics Res., 2025)

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning. - Zhaoyuan Gu; Junheng Li; Wenlan Shen; Wenhao Yu 003; Zhaoming Xie; Stephen McCrory; Xianyi Cheng; Abdulaziz Shamsah; Robert J. Griffin; C. Karen Liu; Abderrahmane Kheddar; Xue Bin Peng; et al. (CoRR, 2025)

QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment. - Yuyou Zhang; Yihang Yao; Shiqi Liu; Yaru Niu; Changyi Lin; Yuxiang Yang; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Ding Zhao (CoRR, 2025)

Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models. - Chen Wang 053; Fei Xia 002; Wenhao Yu 003; Tingnan Zhang; Ruohan Zhang; C. Karen Liu; Li Fei-Fei 001; Jie Tan 001; Jacky Liang (CoRR, 2025)

LocoTouch: Learning Dexterous Quadrupedal Transport with Tactile Sensing. - Changyi Lin; Yuxin Ray Song; Boda Huo; Mingyang Yu; Yikai Wang; Shiqi Liu; Yuxiang Yang; Wenhao Yu 003; Tingnan Zhang; Jie Tan 001; Yiyue Luo; Ding Zhao (CoRR, 2025)

Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining. - Yaru Niu; Yunzhe Zhang; Mingyang Yu; Changyi Lin; Chenhao Li; Yikai Wang; Yuxiang Yang 007; Wenhao Yu 003; Tingnan Zhang; Bingqing Chen; Jonathan Francis; Zhenzhen Li; et al. (CoRR, 2025)

Autonomous Mario Kart in the Wild: Lessons Learned From the Earth Rover Challenge at IROS 2024 [Competitions]. - Xuesu Xiao; Jie Tan 001; Michael Cho; David Hsu; Dhruv Shah; Joanne Truong; Ted Xiao; Naoki Yokoyama; Wenhao Yu 003; Tingnan Zhang; Zhuo Xu; Santiago Pravisani; et al. (IEEE Robotics Autom. Mag., 2025)