projects

2025

  1. rambo.png
    RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation
    Jin Cheng, Dongho Kang, Gabriele Fadini, and 2 more authors
    In submission, 2025
  2. sata.png
    SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
    Peizhuo Li, Hongyi Li, Ge Sun, and 7 more authors
    2025 Robotics: Science and Systems (RSS 2025), 2025
  3. caiman.png
    CAIMAN: Causal Action Influence Detection for Sample Efficient Loco-manipulation
    Yuanchen Yuan, Jin Cheng, Núria Armengol Urpí, and 1 more author
    In submission, 2025
  4. spotcatching.png
    Learning More With Less: Sample Efficient Dynamics Learning and Model-Based RL for Loco-Manipulation
    Benjamin Hoffman, Jin Cheng, Chenhao Li, and 1 more author
    In archive, 2025
  5. stmr.png
    Spatio-Temporal Motion Retargeting for Quadruped Robots
    Taerim Yoon, Dongho Kang, Seungmin Kim, and 4 more authors
    In submission, 2025

2024

  1. dare.png
    DARE: Diffusion Policy for Autonomous Robot Exploration
    Yuhong Cao, Jeric Lew, Jingsong Liang, and 2 more authors
    2025 IEEE International Conference on Robotics and Automation (ICRA 2025), 2024
  2. universalloco.png
    MetaLoco: Universal Quadrupedal Locomotion with Meta-Reinforcement Learning and Motion Imitation
    Fatemeh Zargarbashi, Fabrizio Di Giuro, Jin Cheng, and 3 more authors
    In archive, 2024
  3. robotkeyframing.png
    RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards
    Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, and 2 more authors
    2024 Conference on Robot Learning (CoRL 2024), 2024
  4. doi3.gif
    Offline Diversity Maximization Under Imitation Constraints
    Marin Vlastelica, Jin Cheng, Georg Martius, and 1 more author
    2024 Reinforcement Learning Conference (RLC 2024), 2024
  5. dominic.png
    Learning Diverse Skills for Local Navigation under Multi-constraint Optimality
    Jin Cheng, Marin Vlastelica, Pavel Kolev, and 2 more authors
    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, and 2 more authors
    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 1 more author
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022