Below are some representative publications in each research interest. Please visit Publications page for a full list.
Contact-rich manipulation
- Multi-Contact modeling and simulation
- Learning, planning, and control for contact-rich manipulation
- Multisensory perception in dexterous manipulation






Adaptive Barrier Smoothing for First-Order Policy Gradient with Contact Dynamics
International Conference on Machine Learning (ICML), 2023
Autonomy alignment
- Learning from demonstrations
- Learning from interactions

Robust Reward Alignment via Hypothesis Space Batch Cutting
International Conference on Machine Learning (ICML), 2025
Paper
Code (coming soon)
Video (coming soon)




Fundamental methods in robotics
- Optimal control, motion plannig, reinforcement learning
- Differentiable optimization, inverse optimization
- Hybrid system learning and control




Enforcing Hard Constraints with Soft Barriers: Safe-driven Reinforcement Learning in Unknown Stochastic Environments
International Conference on Machine Learning (ICML), 2023

A Differential Dynamic Programming Framework for Inverse Reinforcement Learning
Submitted to IEEE Transactions on Robotics (T-RO), 2024