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, 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.

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

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}
}

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

Website Video