Wenhao Yu

Publication Activity (10 Years)

Years Active: 2016-2024
Publications (10 Years): 88

Top Topics

Predictive Control

Legged Locomotion

Motion Synthesis

Reinforcement Learning

Top Venues

Publications

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Anuj Zore, Brian Ichter, Fei Xia, Jie Tan, Wenhao Yu, Dinesh Manocha
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments. CoRR (2024)
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
PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs. CoRR (2024)
Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime F. Fisac
Gameplay Filters: Safe Robot Walking through Adversarial Imagination. CoRR (2024)
Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu, Sergey Levine, Jie Tan
Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs. CoRR (2024)
Yihang Yao, Zuxin Liu, Zhepeng Cen, Peide Huang, Tingnan Zhang, Wenhao Yu, Ding Zhao
Gradient shaping for multi-constraint safe reinforcement learning. L4DC (2024)
Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Montserrat Gonzalez Arenas, Maria Attarian, Maria Bauzá, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Kelly Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil J. Joshi, Ben Jyenis, J. Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Ken Oslund, Dushyant Rao, Allen Z. Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja J. Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada
Learning to Learn Faster from Human Feedback with Language Model Predictive Control. CoRR (2024)
Changyi Lin, Xingyu Liu, Yuxiang Yang, Yaru Niu, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots, Ding Zhao
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators. CoRR (2024)
Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie, Wenhao Yu, Majid Khadiv
Learning-based legged locomotion; state of the art and future perspectives. CoRR (2024)
Ramij Raja Hossain, Tianzhixi Yin, Yan Du, Renke Huang, Jie Tan, Wenhao Yu, Yuan Liu, Qiuhua Huang
Efficient learning of power grid voltage control strategies via model-based deep reinforcement learning. Mach. Learn. 113 (5) (2024)
Yihang Yao, Zhepeng Cen, Wenhao Ding, Haohong Lin, Shiqi Liu, Tingnan Zhang, Wenhao Yu, Ding Zhao
OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning. CoRR (2024)
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
RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches. ICLR (2024)
Joanne Truong, April Zitkovich, Sonia Chernova, Dhruv Batra, Tingnan Zhang, Jie Tan, Wenhao Yu
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors Without Any Outdoor Experience. IEEE Robotics Autom. Lett. 9 (5) (2024)
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller. CoRR (2023)
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Continuous Versatile Jumping Using Learned Action Residuals. CoRR (2023)
Qiuhua Huang, Renke Huang, Tianzhixi Yin, Sohom Datta, Xueqing Sun, Z. Jason Hou, Jie Tan, Wenhao Yu, Yuan Liu, Xinya Li, Bruce Palmer, Ang Li, Xinda Ke, Marianna Vaiman, Song Wang, Yousu Chen
Toward Intelligent Emergency Control for Large-scale Power Systems: Convergence of Learning, Physics, Computing and Control. CoRR (2023)
Joanne Taery Kim, Wenhao Yu, Jie Tan, Greg Turk, Sehoon Ha
How to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling. HRI (Companion) (2023)
Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada
SayTap: Language to Quadrupedal Locomotion. CoRL (2023)
Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada
SayTap: Language to Quadrupedal Locomotion. CoRR (2023)
Chengxiang Zhao, Wenhao Yu, Xiaohan Ma, Yuzhuang Zhao, Boqi Li, Weida Wang, Jia Hu, Hong Wang, Ding Zhao
Digitization of Traffic Laws: Methodologies and Usage for Monitoring Driving Compliance. ITSC (2023)
Yihang Yao, Zuxin Liu, Zhepeng Cen, Peide Huang, Tingnan Zhang, Wenhao Yu, Ding Zhao
Gradient Shaping for Multi-Constraint Safe Reinforcement Learning. CoRR (2023)
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
RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches. CoRR (2023)
Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montserrat 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
Language to Rewards for Robotic Skill Synthesis. CoRL (2023)
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. CoRR (2023)
Zuxin Liu, Zijian Guo, Yihang Yao, Zhepeng Cen, Wenhao Yu, Tingnan Zhang, Ding Zhao
Constrained Decision Transformer for Offline Safe Reinforcement Learning. CoRR (2023)
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
Language to Rewards for Robotic Skill Synthesis. CoRR (2023)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. CoRR (2023)
Zixian Zang, Maxime Kawawa-Beaudan, Wenhao Yu, Tingnan Zhang, Avideh Zakhor
Perceptive Hexapod Legged Locomotion for Climbing Joist Environments. IROS (2023)
Ken Caluwaerts, Atil Iscen, J. Chase Kew, Wenhao Yu, Tingnan Zhang, Daniel Freeman, Kuang-Huei Lee, Lisa Lee, Stefano Saliceti, Vincent Zhuang, Nathan Batchelor, Steven Bohez, Federico Casarini, Jose Enrique Chen, Omar Cortes, Erwin Coumans, Adil Dostmohamed, Gabriel Dulac-Arnold, Alejandro Escontrela, Erik Frey, Roland Hafner, Deepali Jain, Bauyrjan Jyenis, Yuheng Kuang, Tsang-Wei Edward Lee, Linda Luu, Ofir Nachum, Ken Oslund, Jason Powell, Diego Reyes, Francesco Romano, Fereshteh Sadeghi, Ron Sloat, Baruch Tabanpour, Daniel Zheng, Michael Neunert, Raia Hadsell, Nicolas Heess, Francesco Nori, Jeff Seto, Carolina Parada, Vikas Sindhwani, Vincent Vanhoucke, Jie Tan
Barkour: Benchmarking Animal-level Agility with Quadruped Robots. CoRR (2023)
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Continuous Versatile Jumping Using Learned Action Residuals. L4DC (2023)
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller. CoRL (2023)
Zuxin Liu, Zijian Guo, Yihang Yao, Zhepeng Cen, Wenhao Yu, Tingnan Zhang, Ding Zhao
Constrained Decision Transformer for Offline Safe Reinforcement Learning. ICML (2023)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. IROS (2023)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. ICRA (2023)
Joanne Truong, April Zitkovich, Sonia Chernova, Dhruv Batra, Tingnan Zhang, Jie Tan, Wenhao Yu
IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience. CoRR (2023)
Zuxin Liu, Zijian Guo, Haohong Lin, Yihang Yao, Jiacheng Zhu, Zhepeng Cen, Hanjiang Hu, Wenhao Yu, Tingnan Zhang, Jie Tan, Ding Zhao
Datasets and Benchmarks for Offline Safe Reinforcement Learning. CoRR (2023)
Mengdi Xu, Peide Huang, Wenhao Yu, Shiqi Liu, Xilun Zhang, Yaru Niu, Tingnan Zhang, Fei Xia, Jie Tan, Ding Zhao
Creative Robot Tool Use with Large Language Models. CoRR (2023)
Yihang Yao, Zuxin Liu, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, Ding Zhao
Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning. NeurIPS (2023)
Joanne Taery Kim, Wenhao Yu, Yash Kothari, Bruce Walker, Jie Tan, Greg Turk, Sehoon Ha
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism. CoRL (2023)
Yihang Yao, Zuxin Liu, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, Ding Zhao
Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning. CoRR (2023)
Kuang-Huei Lee, Ofir Nachum, Tingnan Zhang, Sergio Guadarrama, Jie Tan, Wenhao Yu
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations. IROS (2022)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. IROS (2022)
Ramij Raja Hossain, Tianzhixi Yin, Yan Du, Renke Huang, Jie Tan, Wenhao Yu, Yuan Liu, Qiuhua Huang
Efficient Learning of Voltage Control Strategies via Model-based Deep Reinforcement Learning. CoRR (2022)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP. CoRR (2022)
Fabio Muratore, Fabio Ramos, Greg Turk, Wenhao Yu, Michael Gienger, Jan Peters
Robot Learning From Randomized Simulations: A Review. Frontiers Robotics AI 9 (2022)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. CoRR (2022)
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. CoRR (2022)
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. IROS (2022)
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
Safe Reinforcement Learning for Legged Locomotion. IROS (2022)
Kuang-Huei Lee, Ofir Nachum, Tingnan Zhang, Sergio Guadarrama, Jie Tan, Wenhao Yu
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations. CoRR (2022)
Tsung-Yen Yang, Tingnan Zhang, Linda Luu, Sehoon Ha, Jie Tan, Wenhao Yu
Safe Reinforcement Learning for Legged Locomotion. CoRR (2022)
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Learning Semantics-Aware Locomotion Skills from Human Demonstration. CoRL (2022)
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots
Learning Semantics-Aware Locomotion Skills from Human Demonstration. CoRR (2022)
Yan Du, Qiuhua Huang, Renke Huang, Tianzhixi Yin, Jie Tan, Wenhao Yu, Xinya Li
Physics-informed Evolutionary Strategy based Control for Mitigating Delayed Voltage Recovery. CoRR (2021)
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, C. Karen Liu
Policy Transfer via Kinematic Domain Randomization and Adaptation. ICRA (2021)
Fabio Muratore, Fabio Ramos, Greg Turk, Wenhao Yu, Michael Gienger, Jan Peters
Robot Learning from Randomized Simulations: A Review. CoRR (2021)
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
Learning Human Search Behavior from Egocentric Visual Inputs. Comput. Graph. Forum 40 (2) (2021)
Wenhao Yu, C. Karen Liu, Greg Turk
Protective Policy Transfer. ICRA (2021)
Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charles C. Kemp, Greg Turk
Learning to Manipulate Amorphous Materials. CoRR (2021)
Renke Huang, Yujiao Chen, Tianzhixi Yin, Qiuhua Huang, Jie Tan, Wenhao Yu, Xinya Li, Ang Li, Yan Du
Learning and Fast Adaptation for Grid Emergency Control via Deep Meta Reinforcement Learning. CoRR (2021)
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang
Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. CoRL (2021)
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing. IROS (2021)
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing. CoRR (2020)
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, C. Karen Liu
Policy Transfer via Kinematic Domain Randomization and Adaptation. CoRR (2020)
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
Learning Fast Adaptation With Meta Strategy Optimization. IEEE Robotics Autom. Lett. 5 (2) (2020)
Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charlie C. Kemp, Greg Turk
Learning to manipulate amorphous materials. ACM Trans. Graph. 39 (6) (2020)
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
Learning Human Search Behavior from Egocentric Visual Inputs. CoRR (2020)
Wenhao Yu, C. Karen Liu, Greg Turk
Protective Policy Transfer. CoRR (2020)
Yunbo Zhang, Wenhao Yu, Greg Turk
Learning Novel Policies For Tasks. ICML (2019)
Wenhao Yu, Visak C. V. Kumar, Greg Turk, C. Karen Liu
Sim-to-Real Transfer for Biped Locomotion. IROS (2019)
Wenhao Yu, C. Karen Liu, Greg Turk
Policy Transfer with Strategy Optimization. ICLR (Poster) (2019)
Ariel Kapusta, Zackory M. Erickson, Henry M. Clever, Wenhao Yu, C. Karen Liu, Greg Turk, Charles C. Kemp
Personalized collaborative plans for robot-assisted dressing via optimization and simulation. Auton. Robots 43 (8) (2019)
Wenhao Yu, Visak C. V. Kumar, Greg Turk, C. Karen Liu
Sim-to-Real Transfer for Biped Locomotion. CoRR (2019)
Yunbo Zhang, Wenhao Yu, Greg Turk
Learning Novel Policies For Tasks. CoRR (2019)
Wenhao Yu, Jie Tan, Yunfei Bai, Erwin Coumans, Sehoon Ha
Learning Fast Adaptation with Meta Strategy Optimization. CoRR (2019)
Wenhao Yu, Greg Turk, C. Karen Liu
Learning Symmetry and Low-energy Locomotion. CoRR (2018)
Wenhao Yu, C. Karen Liu, Greg Turk
Policy Transfer with Strategy Optimization. CoRR (2018)
Alexander Clegg, Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk
Learning to dress: synthesizing human dressing motion via deep reinforcement learning. ACM Trans. Graph. 37 (6) (2018)
Wenhao Yu, Greg Turk, C. Karen Liu
Learning symmetric and low-energy locomotion. ACM Trans. Graph. 37 (4) (2018)
Alexander Clegg, Wenhao Yu, Zackory M. Erickson, C. Karen Liu, Greg Turk
Learning to Navigate Cloth using Haptics. CoRR (2017)
Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk
Preparing for the Unknown: Learning a Universal Policy with Online System Identification. Robotics: Science and Systems (2017)
Wenhao Yu, Greg Turk, C. Karen Liu
Multi-task Learning with Gradient Guided Policy Specialization. CoRR (2017)
Alexander Clegg, Wenhao Yu, Zackory M. Erickson, Jie Tan, C. Karen Liu, Greg Turk
Learning to navigate cloth using haptics. IROS (2017)
Wenhao Yu, Ariel Kapusta, Jie Tan, Charles C. Kemp, Greg Turk, C. Karen Liu
Haptic simulation for robot-assisted dressing. ICRA (2017)
Wenhao Yu, C. Karen Liu, Greg Turk
Preparing for the Unknown: Learning a Universal Policy with Online System Identification. CoRR (2017)
Alexander Clegg, Wenhao Yu, Jie Tan, Charlie C. Kemp, Greg Turk, C. Karen Liu
Learning Human Behaviors for Robot-Assisted Dressing. CoRR (2017)
Zackory M. Erickson, Alexander Clegg, Wenhao Yu, Greg Turk, C. Karen Liu, Charles C. Kemp
What does the person feel? Learning to infer applied forces during robot-assisted dressing. ICRA (2017)
Ariel Kapusta, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, Charles C. Kemp
Data-driven haptic perception for robot-assisted dressing. RO-MAN (2016)
Yunfei Bai, Wenhao Yu, C. Karen Liu
Dexterous Manipulation of Cloth. Comput. Graph. Forum 35 (2) (2016)