NUS HCRL

Evolution of Humanoid Locomotion Control

Yan Gu*, Guanya Shi*, Fan Shi*, I-Chia Chang, Yen-Jen Wang, Qilong Cheng, Zachary Olkin, Ivan Lopez-Sanchez, Yunchu Feng, Jian Zhang, Aaron D Ames, Hao Su†, Koushil Sreenath†

Science Robotics 2026

Paper

RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation

Pengzhi Yang, Xinyu Wang, Pengyu Jing, Kehan Wen, Yiduo Qu, Zhenhao Huang, Minghao Fu, Xin Liu, Yaheng Shen, Fan Shi

Conference on Robot Learning (CoRL) 2026

Project Paper

Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement

Xin Liu, Yulin Li, Ziming Li, Pengyu Jing, Zhenhao Huang, Bingyang Zhou, Ziqiu Zeng, Siyuan Luo, Chenkun Qi, Fan Shi

Conference on Robot Learning (CoRL) 2026

Project Paper

DiffPhD: A Unified Differentiable Solver for Projective Heterogeneous Materials in Elastodynamics with Contact-Rich GPU-Acceleration

Shih-Yu Lai, Sung-Han Tien, Jui-I Huang, Yen-Chen Tseng, Yi-Ting Chiu, Siyuan Luo, Ziqiu Zeng, Fan Shi, Peter Yichen Chen, Tiantian Liu, Yu-Lun Liu, Bing-Yu Chen

ACM Transactions on Graphics 2026

Paper

Using Large Language Models for Embodied Planning Introduces Systematic Safety Risks

Tao Zhang, Kaixian Qu, Alex Zhibin Li, Jiajun Wu, Marco Hutter, Manling Li, Fan Shi

arXiv

FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes

Siyuan Luo, Bingyang Zhou, Chong Zhang, Xin Liu, Zhenhao Huang, Gang Yang, Zhengtao Han, Xiaotian Hu, Eric Yang, Rymon Yu, Ziqiu Zeng, Fan Shi

International Symposium of Robotics Research (ISRR) 2026

Paper

Fast and Reliable Gradients for Deformables Across Frictional Contact Regimes

Ziqiu Zeng, Gang Yang, Zhenhao Huang, Yulin Li, Jason Pho, Siyuan Luo, Fan Shi

arXiv

Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling

Zhenhao Huang, Siyuan Luo, Bingyang Zhou, Ziqiu Zeng, Jason Pho, Fan Shi

International Conference on Robotics and Automation (ICRA) 2026

Paper

Soft Responsive Materials Enhance Humanoid Safety

Chunzheng Wang, Yiyuan Zhang, Annan Tang, Ziqiu Zeng, Haoran Chen, Quan Gao, Zixuan Zhuang, Boyu Li, Zhilin Xiong, Aoqian Zhang, Ce Hao, Siyuan Luo, Tongyang Zhao, Cecilia Laschi, Fan Shi

arXiv

SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion

Aoqian Zhang, Cheng Xiang, Zixuan Zhuang, Chunzheng Wang, Fan Shi†, Shuzhi Sam Ge†

International Conference on Intelligent Robots and Systems (IROS) 2026

Paper

REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance

Zihao Xu, Ce Hao, Chunzheng Wang, Kuankuan Sima, Fan Shi, Jin Song Dong

IEEE Robotics and Automation Letters (RA-L) 2025

Paper

Fast and Stable Elastic Dynamics with Large-scale Contact Simulation

Ziqiu Zeng, Siyuan Luo, Eric Yang, Fan Shi

ACM SIGGRAPH Asia 2025 Posters

Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids

Arturo Moises Flores Alvarez, Fatemeh Zargarbashi, Havel Liu, Shiqi Wang, Liam Edwards, Jessica Anz, Alex Xu, Fan Shi, Stelian Coros, Dennis Hong

International Conference on Humanoid Robots (Humanoids) 2025

Paper

GO-Flock: Goal-Oriented Flocking in 3D Unknown Environments with Depth Maps

Yan Rui Tan, Wenqi Liu, Wai Lun Leong, John Guan Zhong Tan, Wayne Wen Huei Yong, Shaohui Foong, Fan Shi, Rodney Swee Huat Teo

International Conference on Intelligent Robots and Systems (IROS) 2025

SOFA++: A Real-Time GPU-based Surgical Robotics Simulator with Robust Frictional Contact

Siyuan Luo, Ziqiu Zeng, Fan Shi

ICRA 2025 ELSR Workshop

Paper

Learning to Assemble with Alternative Plans

Ziqi Wang, Wenjun Liu, Jingwen Wang, Gabriel Vallat, Fan Shi, Stefana Parascho, Maryam Kamgarpour

ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2025)

Paper

Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact

Ziqiu Zeng, Siyuan Luo, Fan Shi, Zhongkai Zhang

ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2025)

Project Paper Video

MRISA: A Visual Analytics Approach for Comparing Locomotion Policies in Robotics Training

Nan Li, Fan Shi, Xiaoyu Zhang, April Yi Wang

Graphics Inferface 2025

Paper

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter

International Conference on Robotics and Automation (ICRA) 2025

Paper Video Code (Integrated into official MuJoCo MJX)

Learning Quiet Walking for a Small Home Robot

Ryo Watanabe, Takahiro Miki, Fan Shi, Yuki Kadokawa, Filip Bjelonic, Kento Kawaharazuka, Andrei Cramariuc, Marco Hutter

International Conference on Robotics and Automation (ICRA) 2025

Paper Video

RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation

Christian Friedrich, Mario Gomez-Andreu, Gabriel Métois, Fan Shi, Marco Hutter, Robert Baines

RoboSoft 2025

Paper

OMEGA: A Minimalistic 3D Hopping Robot with Parallel 3-RSR Mechanism for Safeguarding Humanitarian Demining

Chun Yin Fan, Xiangyu Chu, Fei Yan Fiat Wong, Fan Shi, K. W. Samuel Au

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) 2024

HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation

Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, Masayuki Inaba

International Conference on Robotics and Automation (ICRA) 2024

Paper Video

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers

Fan Shi^*, Chong Zhang^*, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros

Robotics: Science and Systems (RSS) 2024

Project Page Paper

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Publications before 2024 can be checked here.