SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. - Xingyu Lin; Yufei Wang 007; Jake Olkin; David Held (CoRL, 2020)

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. - Yufei Wang 007; Gautham Narayan Narasimhan; Xingyu Lin; Brian Okorn; David Held (CoRL, 2020)

Learning Visible Connectivity Dynamics for Cloth Smoothing. - Xingyu Lin; Yufei Wang 007; Zixuan Huang; David Held (CoRL, 2021)

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy. - Thomas Weng; Sujay Man Bajracharya; Yufei Wang 007; Khush Agrawal; David Held (CoRL, 2021)

Learning Visible Connectivity Dynamics for Cloth Smoothing. - Xingyu Lin; Yufei Wang 007; David Held (CoRR, 2021)

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds. - Daniel Seita; Yufei Wang 007; Sarthak J. Shetty; Edward Yao Li; Zackory Erickson; David Held (CoRL, 2022)

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; Alexander Kravberg; Yufei Wang 007; David Held; Zackory Erickson; Danica Kragic (CoRR, 2022)

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. - Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2022)

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; Alexander Kravberg; Yufei Wang 007; David Held; Zackory Erickson; Danica Kragic (ICRA, 2023)

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. - Yufei Wang 007; Zhanyi Sun; Zackory Erickson; David Held (Robotics: Science and Systems, 2023)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. - Yufei Wang 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Zackory Erickson; David Held; Chuang Gan 001 (CoRR, 2023)

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback. - Yufei Wang 007; Zhanyi Sun; Jesse Zhang; Zhou Xian; Erdem Biyik; David Held; Zackory Erickson (ICML, 2024)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. - Yufei Wang 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Katerina Fragkiadaki; Zackory Erickson; David Held; Chuang Gan 001 (ICML, 2024)

DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Ziyu Wang; Yufei Wang 007; Zackory Erickson; David Held (NeurIPS, 2024)

Architect: Generating Vivid and Interactive 3D Scenes with Hierarchical 2D Inpainting. - Yian Wang 001; Xiaowen Qiu; Jiageng Liu; Zhehuan Chen; Jiting Cai; Yufei Wang 007; Tsun-Hsuan Johnson Wang; Zhou Xian; Chuang Gan 001 (NeurIPS, 2024)

DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Yufei Wang 007; Zackory Erickson; David Held (CoRR, 2024)

Real-World Offline Reinforcement Learning from Vision Language Model Feedback. - Sreyas Venkataraman; Yufei Wang 007; Ziyu Wang; Zackory Erickson; David Held (CoRR, 2024)

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. - Zhanyi Sun; Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2024)

Unfolding the Literature: A Review of Robotic Cloth Manipulation. - Alberta Longhini; Yufei Wang 007; Irene Garcia-Camacho; David Blanco-Mulero; Marco Moletta; Michael C. Welle; Guillem Alenyà; Hang Yin 001; Zackory Erickson; David Held; Júlia Borràs 001; Danica Kragic (Annu. Rev. Control. Robotics Auton. Syst., 2025)

Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modeling. - Xiaowen Qiu; Jincheng Yang; Yian Wang 001; Zhehuan Chen; Yufei Wang 007; Tsun-Hsuan Wang; Zhou Xian; Chuang Gan 001 (CoRR, 2025)

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation. - Yufei Wang 007; Ziyu Wang; Mino Nakura; Pratik Bhowal; Chia-Liang Kuo; Yi-Ting Chen; Zackory Erickson; David Held (CoRR, 2025)