publications

2025

  1. Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
    Zhu, Huaijiang, Zhao, Tong, Ni, Xinpei, Wang, Jiuguang, Fang, Kuan, Righetti, Ludovic, and Pang, Tao
    IEEE Robotics and Automation Letters (RA-L) 2025
    arXiv Video
  2. Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
    Shirai, Yuki, Zhao, Tong, Suh, HJ, Zhu, Huaijiang, Ni, Xinpei, Wang, Jiuguang, Simchowitz, Max, and Pang, Tao
    In IEEE International Conference on Robotics and Automation (ICRA) 2025
    arXiv

2024

  1. Diffusion-Based Learning of Contact Plans for Agile Locomotion
    Dhédin, Victor, Chinnakkonda Ravi, Adithya Kumar, Jordana, Armand, Zhu, Huaijiang, Meduri, Avadesh, Righetti, Ludovic, Schölkopf, Bernhard, and Khadiv, Majid
    In IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2024
    arXiv Video

2023

  1. Efficient Object Manipulation Planning with Monte Carlo Tree Search
    Zhu, Huaijiang, Meduri, Avadesh, and Righetti, Ludovic
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
    Best Paper Award Finalist on Mobile Manipulation
    arXiv Code Website
  2. Learning Locomotion Skills from MPC in Sensor Space
    Khadiv, Majid, Meduri, Avadesh, Zhu, Huaijiang, Righetti, Ludovic, and Schölkopf, Bernhard
    Learning for Dynamics & Control Conference (L4DC) 2023
    Website
  3. MPC with Sensor-Based Online Cost Adaptation
    Meduri, Avadesh, Zhu, Huaijiang, Jordana, Armand, and Righetti, Ludovic
    IEEE International Conference on Robotics and Automation (ICRA) 2023
    arXiv

2020

  1. Enabling Remote Whole-Body Control with 5G Edge Computing
    Zhu, Huaijiang, Sharma, Manali, Pfeiffer, Kai, Mezzavilla, Marco, Shen, Jia, Rangan, Sundeep, and Righetti, Ludovic
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    arXiv

2017

  1. Legible Action Selection in Human-Robot Collaboration
    Zhu, Huaijiang, Gabler, Volker, and Wollherr, Dirk
    In IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2017
    PDF