Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation

Yunhai Feng, Jiaming Han, Zhuoran Yang, Xiangyu Yue, Sergey Levine, Jianlan Luo

arXiv Preprint, February 2025

arXiv Website Code Video BibTeX

@misc{feng2025reflective,
  title={Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation}, 
  author={Yunhai Feng and Jiaming Han and Zhuoran Yang and Xiangyu Yue and Sergey Levine and Jianlan Luo},
  year={2025},
  eprint={2502.16707},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2502.16707}, 
}

Design and Control of Roller Grasper V3 for In-Hand Manipulation

Shenli Yuan, Lin Shao, Yunhai Feng, Jiatong Sun, Teng Xue, Connor Yako, Jeannette Bohg, Kenneth Salisbury

IEEE Transactions on Robotics(T-RO), September 2024

Xplore Website Video BibTeX

@article{yuan2024design,
author={Yuan, Shenli and Shao, Lin and Feng, Yunhai and Sun, Jiatong and Xue, Teng and Yako, Connor L. and Bohg, Jeannette and Salisbury, J. Kenneth},
  journal={IEEE Transactions on Robotics}, 
  title={Design and Control of Roller Grasper V3 for In-Hand Manipulation}, 
  year={2024},
  volume={40},
  number={},
  pages={4222-4234},
  doi={10.1109/TRO.2024.3454388}
}

Finetuning Offline World Models in the Real World

Yunhai Feng*, Nicklas Hansen*, Ziyan Xiong*, Chandramouli Rajagopalan, Xiaolong Wang

Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023
✨ Oral presentation

arXiv Website Code BibTeX

@inproceedings{feng2023finetuning,
  title={Finetuning Offline World Models in the Real World},
  author={Feng, Yunhai and Hansen, Nicklas and Xiong, Ziyan and Rajagopalan, Chandramouli and Wang, Xiaolong},
  booktitle={Proceedings of the 7th Conference on Robot Learning (CoRL)},
  year={2023}
}

SAM-RL: Sensing-Aware Model-based Reinforcement Learning via Differentiable Physics-based Simulation and Rendering

Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao*, Cewu Lu*

Proceedings of Robotics: Science and Systems (RSS), July 2023
🏆 Best System Paper Award Finalist
International Journal of Robotics Research (IJRR), October 2024

arXiv Website Video BibTeX

@inproceedings{lv2023sam,
  title={SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering},
  author={Lv, Jun and Feng, Yunhai and Zhang, Cheng and Zhao, Shuang and Shao, Lin and Lu, Cewu},
  booktitle={Proceedings of Robotics: Science and Systems (RSS)},
  year={2023}
}

Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods

Ya Jing*, Xuelin Zhu*, Xingbin Liu*, Qie Sima, Taozheng Yang, Yunhai Feng, Tao Kong

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023
CoRL 2022 Workshop on Pre-training for Robot Learning, December 2022

arXiv Website Video BibTeX

@inproceedings{jing2023explore
  author={Ya Jing, Xuelin Zhu, Xingbin Liu, Qie Sima, Taozheng Yang, Yunhai Feng, Tao Kong},
  title={Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2023}
}