← Projects
Humanoid Locomotion
Two complementary approaches to walking on unfamiliar terrain: Infer and Adapt learns what to optimize from demonstrations, while Learn to Teach trains controllers efficiently using privileged simulation information.
Paper · RA-L 2025 · ICRA 2026 Oral
Learn to Teach
One-stage privileged teacher-student learning for sample-efficient Digit locomotion over 12+ terrain and disturbance settings.
Paper · ICRA 2024
Infer and Adapt
Learn locomotion rewards from demonstrations, then use those rewards to train bipedal policies that adapt to unfamiliar terrain.