HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps. - Xi Huang 005; Gergely Sóti; Hongyi Zhou; Christoph Ledermann; Björn Hein; Torsten Kröger (IROS, 2022)

Train What You Know - Precise Pick-and-Place with Transporter Networks. - Gergely Sóti; Xi Huang 005; Christian Wurll; Björn Hein (ICRA, 2023)

Planning with Learned Subgoals Selected by Temporal Information. - Xi Huang 005; Gergely Sóti; Christoph Ledermann; Björn Hein; Torsten Kröger (ICRA, 2024)

6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs. - Gergely Sóti; Xi Huang 005; Christian Wurll; Björn Hein (ICRA, 2024)

ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems. - Yucheng Tang; Xi Huang 005; Yongzhou Zhang; Tao Chen; Ilshat Mamaev; Björn Hein (IROS, 2025)

PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning. - Xiaogang Jia; Qian Wang; Anrui Wang; Han A. Wang; Balázs Gyenes; Emiliyan Gospodinov; Xinkai Jiang; Ge Li; Hongyi Zhou; Weiran Liao; Xi Huang 005; Maximilian Beck; et al. (NeurIPS, 2025)

BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning. - Hongyi Zhou; Weiran Liao; Xi Huang 005; Yucheng Tang; Fabian Otto; Xiaogang Jia; Xinkai Jiang; Simon Hilber; Ge Li; Qian Wang; Ömer Erdinç Yagmurlu; Nils Blank; et al. (NeurIPS, 2025)

dGrasp: NeRF-Informed implicit grasp policies with supervised optimization slopes. - Gergely Sóti; Xi Huang 005; Christian Wurll; Björn Hein (Robotics Auton. Syst., 2025)

Towards Fusing Point Cloud and Visual Representations for Imitation Learning. - Atalay Donat; Xiaogang Jia; Xi Huang 005; Aleksandar Taranovic; Denis Blessing; Ge Li; Hongyi Zhou; Hanyi Zhang; Rudolf Lioutikov; Gerhard Neumann (CoRR, 2025)

X-IL: Exploring the Design Space of Imitation Learning Policies. - Xiaogang Jia; Atalay Donat; Xi Huang 005; Xuan Zhao; Denis Blessing; Hongyi Zhou; Han A. Wang; Hanyi Zhang; Qian Wang; Rudolf Lioutikov; Gerhard Neumann (CoRR, 2025)

MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning. - Xi Huang 005; Hongyi Zhou; Ge Li; Yucheng Tang; Weiran Liao; Björn Hein; Tamim Asfour; Rudolf Lioutikov (CoRR, 2025)