Dynamic terrain traversal skills using reinforcement learning. - Xue Bin Peng; Glen Berseth; Michiel van de Panne (ACM Trans. Graph., 2015)

Terrain-adaptive locomotion skills using deep reinforcement learning. - Xue Bin Peng; Glen Berseth; Michiel van de Panne (ACM Trans. Graph., 2016)

Learning locomotion skills using DeepRL: does the choice of action space matter? - Xue Bin Peng; Michiel van de Panne (Symposium on Computer Animation, 2017)

DeepLoco: dynamic locomotion skills using hierarchical deep reinforcement learning. - Xue Bin Peng; Glen Berseth; KangKang Yin; Michiel van de Panne (ACM Trans. Graph., 2017)

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization. - Xue Bin Peng; Marcin Andrychowicz; Wojciech Zaremba; Pieter Abbeel (ICRA, 2018)

Terrain RL Simulator. - Glen Berseth; Xue Bin Peng; Michiel van de Panne (CoRR, 2018)

DeepMimic: example-guided deep reinforcement learning of physics-based character skills. - Xue Bin Peng; Pieter Abbeel; Sergey Levine; Michiel van de Panne (ACM Trans. Graph., 2018)

SFV: reinforcement learning of physical skills from videos. - Xue Bin Peng; Angjoo Kanazawa; Jitendra Malik; Pieter Abbeel; Sergey Levine (ACM Trans. Graph., 2018)

Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow. - Xue Bin Peng; Angjoo Kanazawa; Sam Toyer; Pieter Abbeel; Sergey Levine (ICLR (Poster), 2019)

On Learning Symmetric Locomotion. - Farzad Abdolhosseini; Hung Yu Ling; Zhaoming Xie; Xue Bin Peng; Michiel van de Panne (MIG, 2019)

MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies. - Xue Bin Peng; Michael Chang 003; Grace Zhang; Pieter Abbeel; Sergey Levine (NeurIPS, 2019)

Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning. - Xue Bin Peng; Aviral Kumar; Grace Zhang; Sergey Levine (CoRR, 2019)

Reward-Conditioned Policies. - Aviral Kumar; Xue Bin Peng; Sergey Levine (CoRR, 2019)

Reinforcement Learning with Competitive Ensembles of Information-Constrained Primitives. - Anirudh Goyal; Shagun Sodhani; Jonathan Binas; Xue Bin Peng; Sergey Levine; Yoshua Bengio (ICLR, 2020)

Learning Agile Robotic Locomotion Skills by Imitating Animals. - Xue Bin Peng; Erwin Coumans; Tingnan Zhang; Tsang-Wei Edward Lee; Jie Tan 001; Sergey Levine (Robotics: Science and Systems, 2020)

Offline Meta-Reinforcement Learning with Advantage Weighting. - Eric Mitchell; Rafael Rafailov; Xue Bin Peng; Sergey Levine; Chelsea Finn (ICML, 2021)

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. - Zhongyu Li 003; Xuxin Cheng; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (ICRA, 2021)

AMP: adversarial motion priors for stylized physics-based character control. - Xue Bin Peng; Ze Ma; Pieter Abbeel; Sergey Levine; Angjoo Kanazawa (ACM Trans. Graph., 2021)

Acquiring Motor Skills Through Motion Imitation and Reinforcement Learning - Xue Bin Peng (2021)

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots. - Gilbert Feng; Hongbo Zhang; Zhongyu Li 003; Xue Bin Peng; Bhuvan Basireddy; Linzhu Yue; Zhitao Song; Lizhi Yang; Yunhui Liu 001; Koushil Sreenath; Sergey Levine (CoRL, 2022)

Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World. - Laura M. Smith; J. Chase Kew; Xue Bin Peng; Sehoon Ha; Jie Tan 001; Sergey Levine (ICRA, 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)

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. - Yandong Ji; Zhongyu Li 003; Yinan Sun; Xue Bin Peng; Sergey Levine; Glen Berseth; Koushil Sreenath (IROS, 2022)

Unsupervised Reinforcement Learning with Contrastive Intrinsic Control. - Michael Laskin; Hao Liu 055; Xue Bin Peng; Denis Yarats; Aravind Rajeswaran; Pieter Abbeel (NeurIPS, 2022)

PADL: Language-Directed Physics-Based Character Control. - Jordan Juravsky; Yunrong Guo; Sanja Fidler; Xue Bin Peng (SIGGRAPH Asia, 2022)

CIC: Contrastive Intrinsic Control for Unsupervised Skill Discovery. - Michael Laskin; Hao Liu 055; Xue Bin Peng; Denis Yarats; Aravind Rajeswaran; Pieter Abbeel (CoRR, 2022)

ASE: large-scale reusable adversarial skill embeddings for physically simulated characters. - Xue Bin Peng; Yunrong Guo; Lina Halper; Sergey Levine; Sanja Fidler (ACM Trans. Graph., 2022)

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning. - Kevin Zakka; Philipp Wu; Laura M. Smith; Nimrod Gileadi; Taylor Howell; Xue Bin Peng; Sumeet Singh; Yuval Tassa; Pete Florence; Andy Zeng 001; Pieter Abbeel (CoRL, 2023)

Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion. - Davis Rempe; Zhengyi Luo 002; Xue Bin Peng; Ye Yuan 007; Kris Kitani; Karsten Kreis; Sanja Fidler; Or Litany (CVPR, 2023)

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning. - Xiaoyu Huang; Zhongyu Li 003; Yanzhen Xiang; Yiming Ni; Yufeng Chi; Yunhao Li; Lizhi Yang; Xue Bin Peng; Koushil Sreenath (IROS, 2023)

Video Prediction Models as Rewards for Reinforcement Learning. - Alejandro Escontrela; Ademi Adeniji; Wilson Yan; Ajay Jain; Xue Bin Peng; Ken Goldberg; Youngwoon Lee; Danijar Hafner; Pieter Abbeel (NeurIPS, 2023)

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Robotics: Science and Systems, 2023)

Learning and Adapting Agile Locomotion Skills by Transferring Experience. - Laura M. Smith; J. Chase Kew; Tianyu Li; Linda Luu; Xue Bin Peng; Sehoon Ha; Jie Tan 001; Sergey Levine (Robotics: Science and Systems, 2023)

Synthesizing Physical Character-Scene Interactions. - Mohamed Hassan 003; Yunrong Guo; Tingwu Wang; Michael J. Black; Sanja Fidler; Xue Bin Peng (SIGGRAPH (Conference Paper Track), 2023)

CALM: Conditional Adversarial Latent Models for Directable Virtual Characters. - Chen Tessler; Yoni Kasten; Yunrong Guo; Shie Mannor; Gal Chechik; Xue Bin Peng (SIGGRAPH (Conference Paper Track), 2023)

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (CoRR, 2023)

RoboPianist: A Benchmark for High-Dimensional Robot Control. - Kevin Zakka; Laura M. Smith; Nimrod Gileadi; Taylor A. Howell; Xue Bin Peng; Sumeet Singh; Yuval Tassa; Pete Florence; Andy Zeng 001; Pieter Abbeel (CoRR, 2023)

Trajeglish: Learning the Language of Driving Scenarios. - Jonah Philion; Xue Bin Peng; Sanja Fidler (CoRR, 2023)

Learning Physically Simulated Tennis Skills from Broadcast Videos. - Haotian Zhang 004; Ye Yuan 007; Viktor Makoviychuk; Yunrong Guo; Sanja Fidler; Xue Bin Peng; Kayvon Fatahalian (ACM Trans. Graph., 2023)

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets. - Xiaoyu Huang; Yufeng Chi; Ruofeng Wang; Zhongyu Li 003; Xue Bin Peng; Yakun Sophia Shao; Borivoje Nikolic; Koushil Sreenath (CoRL, 2024)

Multi-Track Timeline Control for Text-Driven 3D Human Motion Generation. - Mathis Petrovich; Or Litany; Umar Iqbal 001; Michael J. Black; Gül Varol; Xue Bin Peng; Davis Rempe (CVPR Workshops, 2024)

Generating Human Interaction Motions in Scenes with Text Control. - Hongwei Yi; Justus Thies; Michael J. Black; Xue Bin Peng; Davis Rempe (ECCV (4), 2024)

Trajeglish: Traffic Modeling as Next-Token Prediction. - Jonah Philion; Xue Bin Peng; Sanja Fidler (ICLR, 2024)

HiLMa-Res: A General Hierarchical Framework via Residual RL for Combining Quadrupedal Locomotion and Manipulation. - Xiaoyu Huang; Qiayuan Liao; Yiming Ni; Zhongyu Li 003; Laura M. Smith; Sergey Levine; Xue Bin Peng; Koushil Sreenath (IROS, 2024)

Flexible Motion In-betweening with Diffusion Models. - Setareh Cohan; Guy Tevet; Daniele Reda; Xue Bin Peng; Michiel van de Panne (SIGGRAPH (Conference Paper Track), 2024)

SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised Distillation. - Jordan Juravsky; Yunrong Guo; Sanja Fidler; Xue Bin Peng (SIGGRAPH (Conference Paper Track), 2024)

Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies. - Yanjie Ze; Zixuan Chen; Wenhao Wang; Tianyi Chen; Xialin He; Ying Yuan; Xue Bin Peng; Jiajun Wu 001 (CoRR, 2024)

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies. - Zixuan Chen; Xialin He; Yen-Jen Wang; Qiayuan Liao; Yanjie Ze; Zhongyu Li 003; S. Shankar Sastry; Jiajun Wu 001; Koushil Sreenath; Saurabh Gupta; Xue Bin Peng (CoRR, 2024)

Interactive Character Control with Auto-Regressive Motion Diffusion Models. - Yi Shi; Jingbo Wang 003; Xuekun Jiang; Bingkun Lin; Bo Dai 002; Xue Bin Peng (ACM Trans. Graph., 2024)

MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting. - Chen Tessler; Yunrong Guo; Ofir Nabati; Gal Chechik; Xue Bin Peng (ACM Trans. Graph., 2024)

Language Guided Skill Discovery. - Seungeun Rho; Laura M. Smith; Tianyu Li; Sergey Levine; Xue Bin Peng; Sehoon Ha (ICLR, 2025)

CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control. - Guy Tevet; Sigal Raab; Setareh Cohan; Daniele Reda; Zhengyi Luo 002; Xue Bin Peng; Amit Haim Bermano; Michiel van de Panne (ICLR, 2025)

Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (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)

TWIST: Teleoperated Whole-Body Imitation System. - Yanjie Ze; Zixuan Chen; João Pedro Araújo; Zi-ang Cao; Xue Bin Peng; Jiajun Wu 001; C. Karen Liu (CoRR, 2025)

StableMotion: Training Motion Cleanup Models with Unpaired Corrupted Data. - Yuxuan Mu; Hung Yu Ling; Yi Shi; Ismael Baira Ojeda; Pengcheng Xi; Chang Shu; Fabio Zinno; Xue Bin Peng (CoRR, 2025)

PARC: Physics-based Augmentation with Reinforcement Learning for Character Controllers. - Michael Xu; Yi Shi; KangKang Yin; Xue Bin Peng (CoRR, 2025)

ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators. - Ziyu Zhang; Sergey Bashkirov; Dun Yang; Michael Taylor; Xue Bin Peng (CoRR, 2025)

HIL: Hybrid Imitation Learning of Diverse Parkour Skills from Videos. - Jiashun Wang; Yifeng Jiang 009; Haotian Zhang 004; Chen Tessler; Davis Rempe; Jessica K. Hodgins; Xue Bin Peng (CoRR, 2025)

MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation. - Chen Tessler; Yifeng Jiang 009; Erwin Coumans; Zhengyi Luo 002; Gal Chechik; Xue Bin Peng (CoRR, 2025)

LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction. - Haoru Xue; Xiaoyu Huang; Dantong Niu; Qiayuan Liao; Thomas Kragerud; Jan Tommy Gravdahl; Xue Bin Peng; Guanya Shi; Trevor Darrell; Koushil Sreenath; S. Shankar Sastry (CoRR, 2025)

GMT: General Motion Tracking for Humanoid Whole-Body Control. - Zixuan Chen; Mazeyu Ji; Xuxin Cheng; Xuanbin Peng; Xue Bin Peng; Xiaolong Wang 004 (CoRR, 2025)

Noise-Aware Generative Microscopic Traffic Simulation. - Vindula Jayawardana; Catherine Tang; Junyi Ji; Jonah Philion; Xue Bin Peng; Cathy Wu 002 (CoRR, 2025)