📓Publications

pub-database
DIAL-MPC is a sampling-based MPC framework with a novel diffusion-style annealing process.
🕋
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing
Haoru Xue*, Chaoyi Pan*, Zeji Yi, Guannan Qu, Guanya Shi
ICRA 2025 [Best paper finalist]
Sep 26, 2024
arxiv.org
robotics
control
diffusion
Model-based Diffusion enables flexible trajectory generation without any data.
Model-based Diffusion for Trajectory Optimization
Chaoyi Pan*, Zeji Yi*, Guanya Shi, Guannan Qu
NeurIPS 2024
Jun 6, 2024
drive.google.com
robotics
control
diffusion
CoVO-MPC deployed to Crazyflie trajectory long exposure photo.
CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design
Zeji Yi*, Chaoyi Pan*, Guanqi He, Guannan Qu, Guanya Shi
L4DC2024
drive.google.com
control
robotics
notion image
🖐️
In-Hand Manipulation of Unknown Shapes with Tactile Sensing
Chaoyi Pan*, Marion Lepert*, Shenli Yuan, Rika Antonova, Jeannette Bohg
IROS2023
arxiv.org
robotics
tactile
notion image
🦾
Efficient Bimanual Handover and Rearrangement via Symmetry-Aware Actor-Critic Learning
Yunfei Li*, Chaoyi Pan*, Huazhe Xu, Xiaolong Wang, Yi Wu
ICRA2023
ICRA2023_Bimanual_Rearrange.pdf
rl
robotics
multi-agent
notion image
🚗
Flexible Decentralized Displacement-Based Formation Control: An Multi-agent Reinforcement Learning Approach
Chaoyi Pan, Yuzi Yan, Zexu Zhang, Yuan Shen
EUSIPCO2022
Sep 26, 2022
ieeexplore.ieee.org
rl
multi-agent
robotics
* indicates co-author.
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