projects

2024

  1. robotkeyframing.png
    RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards
    Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, and Stelian Coros
    In submission, 2024
  2. doi3.gif
    Offline Diversity Maximization Under Imitation Constraints
    Marin Vlastelica, Jin Cheng, Georg Martius, and Pavel Kolev
    2024 Reinforcement Learning Conference (RLC 2024), 2024
  3. dominic.png
    Learning Diverse Skills for Local Navigation under Multi-constraint Optimality
    Jin Cheng, Marin Vlastelica, Pavel Kolev, Chenhao Li, and Georg Martius
    2024 IEEE International Conference on Robotics and Automation (ICRA 2024), 2024

2023

  1. rl+.png
    RL+ Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
    Dongho Kang, Jin Cheng, Miguel Zamora, Fatemeh Zargarbashi, and Stelian Coros
    IEEE Robotics and Automation Letters (RA-L), 2023

2022

  1. haptic_teleoperation.png
    Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework
    Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, and Marco Hutter
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022