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Creative robot tool use with large language models
Mengdi Xu*, Peide Huang*, Wenhao Yu*, Shiqi Liu, Xilun Zhang, Yaru Niu, Tingnan Zhang, Fei Xia, Jie Tan, Ding Zhao
Preprint, 2024
[pdf] [project]

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​Learning to Learn Faster from Human Feedback with Language Model Predictive Control
Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, et al.
Robotics: Science and Systems (RSS), 2024   
[pdf] [project]



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​PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs
Soroush Nasiriany*, Fei Xia*, Wenhao Yu*, Ted Xiao*, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter*
International Conference on Machine Learning (ICML), 2024
[pdf] [project] [demo]


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IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience
Joanne Truong, April Zitkovich, Sonia Chernova, Dhruv Batra, Tingnan Zhang, Jie Tan, Wenhao Yu
RA-Letters, 2024
​[pdf] [website] [Google AI Blog] [bibtex]

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Rt-trajectory: Robotic task generalization via hindsight trajectory sketches
Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, Ted Xiao
International Conference on Learning Representations (ICLR), 2024. 
(Selected for spotlight presentation)​
[pdf] [project] [Google DeepMind Blogpost]
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Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning
​Yihang Yao, Zuxin Liu, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, Ding Zhao
Advances in Neural Information Processing Systems (NeurIPS), 2024
[pdf]

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A unified perspective on multiple shooting in differential dynamic programming
He Li, Wenhao Yu, Tingnan Zhang, Patrick M Wensing
​International Conference on Intelligent Robots and Systems (IROS), 2023
[pdf]

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Perceptive Hexapod Legged Locomotion for Climbing Joist Environments
​Zixian Zang, Maxime Kawawa-Beaudan, Wenhao Yu, Tingnan Zhang, Avideh Zakhor
International Conference on Intelligent Robots and Systems (IROS), 2023
[paper]

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Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism.
J Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha
​Conference on Robot Learning (CoRL), 2023
[pdf] [bibtex]

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CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
​Conference on Robot Learning (CoRL), 2023
[pdf] [video] [website] [bibtex]



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SayTap: Language to Quadrupedal Locomotion
​Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada
Conference on Robot Learning (CoRL), 2023
​[pdf] [website] [Google AI Blog] [bibtex]
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Language to Rewards for Robotic Skill Synthesis
Wenhao Yu*, Nimrod Gileadi*, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montse Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia*
Conference on Robot Learning (CoRL), 2023 
Selected for Oral Presentation
                                                     [pdf] [video] [website] [Google AI Blog] [bibtex]

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​Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts, Atil Iscen, J Chase Kew, Wenhao Yu, Tingnan Zhang, et al.
[pdf] [video] [Google AI Blog] [bibtex]






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Constrained Decision Transformer for Offline Safe Reinforcement Learning
Zuxin Liu, Zijian Guo, Yihang Yao, Zhepeng Cen, Wenhao Yu, Tingnan Zhang, Ding Zhao
International Conference on Machine Learning (ICML), 2023
[pdf] [bibtex]
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Continuous Versatile Jumping Using Learned Action Residuals
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Learning for Dynamics & Control (L4DC), 2023
[pdf] [website] [bibtex]


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Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP
​He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
​IEEE International Conference on Robotics and Automation (ICRA), 2023
[pdf] [video] [bibtex]
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How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling
J Taery Kim, Wenhao Yu, Jie Tan, Greg Turk, Sehoon Ha
International Conference on Human-Robot Interaction (HRI) Late Breaking Report 2023
[pdf] [bibtex]

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Learning Semantics-Aware Locomotion Skills from Human Demonstrations
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Conference on Robot Learning (CoRL) 2022
[pdf] [video] [bibtex] [website] [Google AI Blog]

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PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Kuang-Huei Lee, Ofir Nachum, Tingnan Zhang, Sergio Guadarrama, Jie Tan, Wenhao Yu
International Conference on Intelligent Robots and Systems (IROS), 2022.
Best Paper Award Finalist
                                                 [pdf] [video] [bibtex]
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​Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
​International Conference on Intelligent Robots and Systems (IROS), 2022.
                                                 [pdf] [video] [bibtex]

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Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel
International Conference on Intelligent Robots and Systems (IROS), 2022.
Best Paper Award Finalist
[pdf] [video] [bibtex]





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Safe Reinforcement Learning for Legged Locomotion
​Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
International Conference on Intelligent Robots and Systems (IROS), 2022.
[pdf] [Google AI Blog] [bibtex]

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Learning and Fast Adaptation for Grid Emergency Control via Deep Meta Reinforcement Learning
Renke Huang, Yujiao Chen, Tianzhixi Yin, Qiuhua Huang, Jie Tan, Wenhao Yu, Xinya Li, Ang Li, Yan Du
IEEE Transactions on Power Systems, 2022
​                                                [pdf] [bibtex]
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Robot learning from randomized simulations: A review
Fabio Muratore, Fabio Ramos, Greg Turk, Wenhao Yu, Michael Gienger, Jan Peters
Frontiers in Robotics and AI, 2022
[paper] [bibtex]

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Physics-informed Evolutionary Strategy based Control for Mitigating Delayed Voltage Recovery 
Yan Du, Qiuhua Huang, Renke Huang, Tianzhixi Yin, Jie Tan, Wenhao Yu, Xinya Li
IEEE Transactions on Power Systems, 2021
[pdf] [bibtex]
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Visual-Locomotion: Learning to Walk on Complex Terrains with Vision 
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang
Conference on Robot Learning (CoRL), 2021
[pdf] [video] [project] [bibtex]

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Accelerated Derivative-free Deep Reinforcement Learning for Large-scale Grid Emergency Voltage Control
Renke Huang, Yujiao Chen, Tianzhixi Yin, Xinya Li, Ang Li, Jie Tan, Wenhao Yu, Yuan Liu, Qiuhua Huang
IEEE Transactions on Power Systems, 2021
[paper link] [bibtex]

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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C Karen Liu, Daniel Ho
International Conference on Intelligent Robots and Systems (IROS), 2021.
​[arXiv] [video] [bibtex]




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Protective Policy Transfer
Wenhao Yu, Greg Turk and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA), 2021.  ​
[arXiv] [video] [bibtex]





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Policy Transfer via Kinematic Domain Randomization and Adaptation
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, and C. Karen Liu.  
IEEE International Conference on Robotics and Automation (ICRA), 2021.  
​[arXiv] [github] [bibtex]





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Learning Human Search Behavior from Egocentric Visual Inputs
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu.
Computer Graphics Forum (Eurographics), 2020.
​[pdf] [video] [bibtex]





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Learning to Manipulate Amorphous Materials
Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charlie Kemp, and Greg Turk.
Transaction on Graphics (SIGGRAPH ASIA), 2020.
[pdf]​ [video] [bibtex]


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Learning Fast Adaptation with Meta Strategy Optimization
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans and Sehoon Ha.
IEEE Robotics and Automation Letters (RA-L), 2020.
[arXiv]​ [video] [bibtex]

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Personalized collaborative plans for robot-assisted dressing via optimization and simulation
Ariel Kapusta, Zackory Erickson, Henry M. Clever, Wenhao Yu, C. Karen Liu, Greg Turk, Charles C. Kemp.
Autonomous Robots, 2019.
[Paper] [bibtex]


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Sim-to-Real Transfer for Biped Locomotion 
Wenhao Yu, Visak CV Kumar, Greg Turk and C. Karen Liu. 
International Conference on Intelligent Robots and Systems (IROS), 2019. 
[arXiv] [pdf] [bibtex] [video]






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Learning Novel Policies for Tasks 
Yunbo Zhang, Wenhao Yu and Greg Turk
International Conference on Machine Learning (ICML), 2019. 
[arxiv] [github] [bibtex] [project]



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Policy Transfer with Strategy Optimization
Wenhao Yu, C. Karen Liu, and Greg Turk
International Conference on Learning Representations (ICLR), 2019. 
[arxiv] [pdf] [github] [bibtex]

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Learning To Dress: Synthesizing Human Dressing Motion via Deep Reinforcement Learning
Alexander Clegg, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk
Transactions on Graphics (SIGGRAPH Asia), 2018.
[pdf] [video] [bibtex]

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Learning Symmetric and Low-energy Locomotion
Wenhao Yu, Greg Turk and C. Karen Liu.
Transactions on Graphics (SIGGRAPH), 2018.
[arXiv] [video] [github] [bibtex] [additional video]

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Learning to Navigate Cloth using Haptics
Alex Clegg, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017  
[arXiv] [video] [bibtex]

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Preparing for the Unknown: Learning a Universal Policy with Online System Identification
Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk
Robotics: Science and Systems (RSS), 2017   
​[arXiv] [video] [github] [bibtex]

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Haptic Data Simulation for Robot-Assisted Dressing
Wenhao Yu, Ariel Kapusta, Jie Tan, Charles C. Kemp, Greg Turk and C. Karen Liu.
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.  
​[pdf] [bibtex]


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What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing
Zackory Erickson, Alex Clegg, Wenhao Yu, Greg Turk, C. Karen Liu, and Charles C. Kemp.
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
[pdf] [video] [bibtex]

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Data-Driven Haptic Perception for Robot-Assisted Dressing
Ariel Kapusta, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles C. Kemp.
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.
[PDF] [video] [bibtex]
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Dexterous Manipulation of Cloth
Yunfei Bai*, Wenhao Yu*, C. Karen Liu (*co-first author).
Computer Graphics Forum (Eurographics), 2016.
[paper] [video] [bibtex]


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Thesis

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Learning to walk using deep reinforcement learning and transfer learning
Wenhao Yu
Advisors: C. Karen Liu, Greg Turk
PhD. Georgia Institute of Technology, 2020
​[link]

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Research on Applying Compressive Sensing to Fluid Data
Wenhao Yu
Advisor: Xubo Yang
Undergraduate Thesis, Shanghai Jiao Tong University, 2013.
​[pdf]