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publications
DiffVL: Scaling Up Soft Body Manipulation using Vision-Language Driven Differentiable Physics
Published in NeurIPS, 2023, 2023
Combining vision, language, and differentiable physics to scale up soft-body manipulation and make task specification more accessible.
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RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Published in arXiv, 2023
We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation.
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On the Evaluation of Generative Robotic Simulations
Published in arXiv, 2024
In EvalTask, we propose a novel framework for evaluating generative robotic simulations from various aspects.
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GenDexHand: Generative Simulation for Dexterous Hands
Published in arXiv, 2025
In GenDexHand, we propose a generative pipeline for dexterous hand tasks that combines LLM/VLM refinement, motion planning, DoF constraints, and subtask decomposition to generate scalable, high-quality trajectory data.
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DexHoldem: Playing Texas Hold’em with Dexterous Embodied System
Published in arXiv, 2026
We introduce DexHoldem, a real-world system-level benchmark for Texas Hold’em dexterous manipulation with a ShadowHand, evaluating tabletop execution, agentic perception, and embodied decision routing.
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talks
Scaling Up Robotics Datasets
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A seminar on scaling robotics data, drawing on lessons from computer vision and language models and comparing simulation with real-world testing.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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