A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search

Arnav Kumar Jain*, Vibhakar Mohta*, Subin Kim, Atiksh Bhardwaj, Juntao Ren, Yunhai Feng, Sanjiban Choudhury, Gokul Swamy

arXiv Preprint, June 2025

arXiv Website Code BibTeX

@misc{jain2025sailor,
  title={A Smooth Sea Never Made a Skilled $\texttt{SAILOR}$: Robust Imitation via Learning to Search}, 
  author={Arnav Kumar Jain and Vibhakar Mohta and Subin Kim and Atiksh Bhardwaj and Juntao Ren and Yunhai Feng and Sanjiban Choudhury and Gokul Swamy},
  year={2025},
  eprint={2506.05294},
  archivePrefix={arXiv},
  primaryClass={cs.LG},
  url={https://arxiv.org/abs/2506.05294}, 
}

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

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

Proceedings of the 9th Conference on Robot Learning (CoRL), September 2025

arXiv Website Code Video BibTeX

@inproceedings{feng2025reflective,
  title={Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation}, 
  author={Feng, Yunhai and Han, Jiaming and Yang, Zhuoran and Yue, Xiangyu and Levine, Sergey and Luo, Jianlan},
  booktitle={Proceedings of the 9th Conference on Robot Learning (CoRL)},
  year={2025},
}

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*

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

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}
}