SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning Anlun Huang*, Zhenyu Wu*, Soofiyan Atar†, Yuheng Zhi†, Michael Yip Preprint 2026 [arXiv] [Project] [Code] [Video]
TIS: Test-time Informed Sampling with Differentiable Collision Checking for Out-of-Distribution Neural Motion Planning Yuheng Zhi*, Anlun Huang*, Michael Yip In submission 2025
Foam-Embedded Soft Robotic Joint With Inverse Kinematic Modeling by Iterative Self-Improving Learning Anlun Huang*, Yongxi Cao*, Jiajie Guo*, Zhonggui Fang, Yinyin Su, Sicong Liu†, Juan Yi, Hongqiang Wang, Jian S Dai, Zheng Wang† RAL & IROS 2024 [Code] [Video]
Multi-Dimensional Proprioception and Stiffness Tuning for Soft Robotic Joints Zhonggui Fang, Chaoyi Huang, Yaxi Wang, Jiahao Xu, Jiyong Tan, Bin Li, Zichen Wang, Yige Wu, Anlun Huang, Juan Yi, Sicong Liu, Zheng Wang ICRA 2022
