Robot policies

Research

A proactive robot manipulation model for multimodal physical environments

Research

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using…

Research

RynnValue: Scaling Robotic Value Foundation Models with Temporal Distance

Research

This is code repo for the paper, Depolying Ten Thousand Robots: Scalable Imitation Learninig for Lifelong Mulit-Agent Path Finding, which won the ICRA 2025 best paper on multi-robot systems and…

Research

The official implementation of the paper "Scaling Behavior Foundation Model for Humanoid Robots"

Open source

"Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation" code repository

Research

Official implementation of SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation

Open source

Official codebase for Sirius: Robot Learning on the Job

Research

Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022).

Open source

ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation

Research

Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conference on Robot Learning (CoRL),

Research

Learning Whole-Body Dexterous Loco-Manipulation from Human–Object Interactions

Research

XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios

Research

Code for my paper "You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations"