publications

2025

    2024

    1. Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
      Shirai, Yuki, Zhao, Tong, Suh, HJ, Zhu, Huaijiang, Ni, Xinpei, Wang, Jiuguang, Simchowitz, Max, and Pang, Tao
      In 2025 IEEE International Conference on Robotics and Automation (ICRA) 2024
      arXiv
    2. 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
    3. 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