projects

2024

  1. dare.png
    DARE: Diffusion Policy for Autonomous Robot Exploration
    Yuhong Cao, Jeric Lew, Jingsong Liang, Jin Cheng, and Guillaume Sartoretti
    In submission, 2024
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    Spatio-Temporal Motion Retargeting for Quadruped Robots
    Taerim Yoon, Dongho Kang, Seungmin Kim, Minsung Ahn, Jin Cheng, and 2 more authors
    In submission, 2024
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    Meta-Reinforcement Learning for Universal Quadrupedal Locomotion Control
    Fabrizio Di Giuro, Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Bhavya Sukhija, and 1 more author
    In submission, 2024
  4. 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
    2024 Conference on Robot Learning (CoRL 2024), 2024
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    Offline Diversity Maximization Under Imitation Constraints
    Marin Vlastelica, Jin Cheng, Georg Martius, and Pavel Kolev
    2024 Reinforcement Learning Conference (RLC 2024), 2024
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    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

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    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