publications

2024

1. 

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

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

   Under Review 2024

   Video
2. 

   Diffusion-Based Learning of Contact Plans for Agile Locomotion

   Dhédin, Victor, Chinnakkonda Ravi, Adithya Kumar, Jordana, Armand, Zhu, Huaijiang, Meduri, Avadesh, Righetti, Ludovic, Schölkopf, Bernhard, and Khadiv, Majid

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

   arXiv Video

2023

1. 

   Efficient Object Manipulation Planning with Monte Carlo Tree Search

   Zhu, Huaijiang, Meduri, Avadesh, and Righetti, Ludovic

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

   Best Paper Award Finalist on Mobile Manipulation

   arXiv Code Website
2. 

   Learning Locomotion Skills from MPC in Sensor Space

   Khadiv, Majid, Meduri, Avadesh, Zhu, Huaijiang, Righetti, Ludovic, and Schölkopf, Bernhard

   5th Annual Learning for Dynamics & Control Conference (L4DC) 2023

   Website
3. 

   MPC with Sensor-Based Online Cost Adaptation

   Meduri, Avadesh, Zhu, Huaijiang, Jordana, Armand, and Righetti, Ludovic

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

   arXiv

2020

1. 

   Enabling Remote Whole-Body Control with 5G Edge Computing

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

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

   arXiv

2017

1. 

   Legible Action Selection in Human-Robot Collaboration

   Zhu, Huaijiang, Gabler, Volker, and Wollherr, Dirk

   In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2017

   PDF