Email: yf428cornell.edu
Hello! I'm a first-year Ph.D. student in Computer Science at Cornell University🧸.
Before joining Cornell, I received my Master's degree from UC San Diego🌊, where I worked with Prof. Xiaolong Wang, and my Bachelor's degree from Nanjing University🐳.
My research goal is to endow embodied agents with versatile skills by learning efficiently and continually in the physical world. Toward that end, my research is focused on data-driven and model-based decision-making for robotics, especially the following directions:
- World models/Model-based reinforcement learning for sample-efficient learning,
- Hierarchical learning/planning/control for solving long-horizon tasks, and
- Grounding foundation models(LLMs/VLMs) to handle complex robotic tasks.
Publications
Yunhai Feng*, Nicklas Hansen*, Ziyan Xiong*, Chandramouli Rajagopalan, Xiaolong Wang
Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 ✨ Oral presentation
@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} }
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
@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} }
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
@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} }
Shenli Yuan, Lin Shao, Yunhai Feng, Jiatong Sun, Teng Xue, Connor Yako, Jeannette Bohg, Kenneth Salisbury
IEEE Transactions on Robotics(T-RO), September 2024
@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} }
Teaching
- Teaching Assistant: Foundations of Robotics (2024 Fall), Cornell University
- Teaching Assistant: Problem Solving (III) (2021 Fall) and Problem Solving (IV) (2022 Spring), Nanjing University
Service
- Conference reviewer: IROS 2023, ICRA 2024
- Journal reviewer: IEEE Robotics and Automation Letters (RA-L)
Awards
- Best System Paper Award Finalist, RSS 2023
- Graduate Excellence Award, 2022
- Special Scholarship for Fundamental Subjects, 2021
- People's Scholarship, 2021
- National Elite Program Scholarship, 2019 & 2020