Portfolio item number 1
Short description of portfolio item number 1
Posts by Collection
portfolio
Portfolio item number 2
Short description of portfolio item number 2
publications
Covariance Steering for Nonlinear Control-affine Systems
Published in arXiv preprint, 2021
Hongzhe Yu, Zhenyang Chen, Yongxin Chen
Download here
Improved Rover Mobility Over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism
Published in The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021), 2021
Shipeng Lv, Yuntian Zhao, Zhenyang Chen, Chengyuan Gao, Longteng Hu, and Zhenzhong Jia
Download here
Bi-Directional Sim-to-Real Transfer for GelSight Tactile Sensors with CycleGAN
Published in IEEE Robotics and Automation Letters (RA-L), 2021
Weihang Chen, Yuan Xu, Zhenyang Chen, Peiyu Zeng, Renjun Dang, Rui Chen and Jing Xu
Download here
Efficient Belief Road Map for Planning Under Uncertainty
Published in arXiv preprint, 2023
Zhenyang Chen, Hongzhe Yu, Yongxin Chen
Download here
Learning Prehensile Dexterity by Imitating and Emulating State-Only Observations
Published in RA-L 2024, 2024
Yunhai Han, Zhenyang Chen, Kyle A Williams, Harish Ravichandar
Download here
Catch It! Learning to Catch in Flight with Mobile Dexterous Hand
Published in ICRA 2025, 2024
Yuanhang Zhang, Tianhai Liang, Zhenyang Chen, Yanjie Ze, Huazhe Xu
Download here
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
Published in Robotics, Science, and System 2025, 2025
Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan, Huazhe Xu
Download here
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Published in Conference of Robot Learning 2025 **(Oral)**, 2025
Nadun Ranawaka Arachchige*, Zhenyang Chen*, Wonsuhk Jung, Woo Chul Shin, Rohan Bansal, Pierre Barroso, Yu Hang He, Yingyang Celine Lin, Benjamin Joffe, Shreyas Kousik, Danfei Xu
Download here
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
Published in Conference on Robot Learning (CoRL) 2025, 2025
Yangcen Liu, Woo Chul Shin, Yunhai Han, Zhenyang Chen, Harish Ravichandar, Danfei Xu
Download here
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
Published in Advances in Neural Information Processing Systems (NeurIPS) 2025, 2025
Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Garrett, Danfei Xu
Download here
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Published in arXiv preprint, 2026
Chuizheng Kong, Yunho Cho, Wonsuhk Jung, Idris Wibowo, Parth Shinde, Sundhar Vinodh-Sangeetha, Long Kiu Chung, Zhenyang Chen, Andrew Mattei, Advaith Nidumukkala, Alexander Elias, Danfei Xu, Taylor Higgins, Shreyas Kousik
Download here
ReSteer: Quantifying and Refining the Steerability of Multitask Robot Policies
Published in Robotics: Science and Systems (RSS) 2026, 2026
Zhenyang Chen, Alan Tian, Liquan Wang, Benjamin Joffe, Yingyan Celine Lin, Yuxiao Chen, Siddharth Karamcheti, Danfei Xu
Download here
EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
Published in arXiv preprint, 2026
Yangcen Liu, Shuo Cheng, Xinchen Yin, Woo Chul Shin, Alfred Cueva, Yiran Yang, Zhenyang Chen, Chuye Zhang, Danfei Xu
Download here
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Published in arXiv preprint, 2026
Zhenyang Chen, Chuizheng Kong, Chuye Zhang, Yuanshao Yang, Lawrence Y. Zhu, Shreyas Kousik, Danfei Xu
Download here
Static In, Dynamic Out: Counterfactual Action Augmentation for Moving Object Manipulation
Published in arXiv preprint, 2026
Woo Chul Shin, Zhenyang Chen, Alfred Cueva, Nadun Ranawaka Arachchige, Yingyan Celine Lin, Benjamin Joffe, Shreyas Kousik, Danfei Xu
Download here
Action Chunk Scheduling for Batched Robot Policy Serving
Published in arXiv preprint, 2026
Rohan Bansal, David He, Nadun Ranawaka Arachchige, Zhenyang Chen, Soobum Kim, Kexin Rong, Danfei Xu
Download here
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown files that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.