Research demonstrations

Research Demos

Demo gallery

Granular manipulation · differentiable physics · sim-to-real

Differentiable Physics-Based Digging Robot for Unknown Granular Materials

IEEE Transactions on Robotics, 2025

Deformable materials · system identification · real robot

Differentiable Physics-Based System Identification for Robotic Manipulation of Elastoplastic Materials

The International Journal of Robotics Research, 2025

Granular manipulation · skill learning · differentiable simulation

Learning Robotic Manipulation of Granular Materials through Differentiable Physics

IEEE/RSJ IROS, 2025

Affordance learning · contact-rich manipulation · reinforcement learning

General Affordance-Based Manipulation for Contact-Rich Object Disentangling Tasks

Neurocomputing 578, 127386, 2024

Hierarchical reinforcement learning · mobile robotics · navigation

Efficient Hierarchical Reinforcement Learning for Mapless Navigation with Predictive Neighbouring Space Scoring

IEEE Transactions on Automation Science and Engineering, 2024

Industrial manipulation · perception · pick and place

Vision-Based Pick-and-Place with an Industrial KUKA Manipulator

Robot demonstration

Long-horizon manipulation · hierarchical RL · reusable skills

Hierarchical Reinforcement Learning with Universal Policies for Multi-Step Robotic Manipulation

IEEE Transactions on Neural Networks and Learning Systems, 2021

Papers, code, and project pages from related research projects.

AutomaChef: A Physics-Informed Robotic System for Automated Preparation of Deformable FoodPreprint →
Recent Advances of Deep Robotic Affordance Learning: A Reinforcement Learning PerspectivePaper →
An Open-Source Multi-Goal Reinforcement Learning Environment for Robotic Manipulation with PyBulletCode →
Abstract Demonstrations and Adaptive Exploration for Efficient and Stable Multi-Step Sparse Reward Reinforcement LearningCode →