Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?

Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang

IEEE Robotics and Automation Letters (RA-L), 2025

Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?

Yuki Shirai, Tong Zhao, HJ Suh, Huaijiang Zhu, Xinpei Ni, Jiuguang Wang, Max Simchowitz, Tao Pang

IEEE International Conference on Robotics and Automation (ICRA), 2025

Diffusion-Based Learning of Contact Plans for Agile Locomotion

Victor Dhedin, Adithya Kumar Chinnakkonda Ravi, Armand Jordana, Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti, Bernhard Scholkopf, Majid Khadiv

IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024

Efficient Object Manipulation Planning with Monte Carlo Tree Search

Huaijiang Zhu, Avadesh Meduri, Ludovic Righetti

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

Best Paper Award Finalist on Mobile Manipulation

Learning Locomotion Skills from MPC in Sensor Space

Majid Khadiv, Avadesh Meduri, Huaijiang Zhu, Ludovic Righetti, Bernhard Scholkopf

Learning for Dynamics & Control Conference (L4DC), 2023

MPC with Sensor-Based Online Cost Adaptation

Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti

IEEE International Conference on Robotics and Automation (ICRA), 2023

Enabling Remote Whole-Body Control with 5G Edge Computing

Huaijiang Zhu, Manali Sharma, Kai Pfeiffer, Marco Mezzavilla, Jia Shen, Sundeep Rangan, Ludovic Righetti

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

Legible Action Selection in Human-Robot Collaboration

Huaijiang Zhu, Volker Gabler, Dirk Wollherr

IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017