Research overview
dexterous, robust, and generalizable robot skills.
I build robot learning systems that acquire precise manipulation and whole-body skills from real-world and simulated experience, with minimal human supervision.
Dexterity & Generalization
precise manipulation across hands, objects, and embodiments
In-Distribution Categories
Cross-Category Generalization
Humanoid Skills
whole-body control and loco-manipulation
Robustness
fast adaptation against external disturbances and failure recovery
During deployment, objects are perturbed at random times by poking, pulling, and pushing them along random directions. The policy adapts quickly to sustain continuous execution.
When disturbances cause drops, the policy exhibits emergent failure recovery by adjusting finger motions and regrasping to continue the task.
The policy reorients and translates perturbed objects back to a stable in-hand pose after random pushes and pokes during deployment.