Home Lab Research

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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
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SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion
Aoqian Zhang, Zixuan Zhuang, Chunzheng Wang, Shuzhi Sam Ge, Fan Shi, Cheng Xiang
arXiv
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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
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Fast and Stable Elastic Dynamics with Large-scale Contact Simulation
Ziqiu Zeng, Siyuan Luo, Eric Yang, Fan Shi
ACM SIGGRAPH Asia 2025 Posters
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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
Humanoids 2025
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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
IROS 2025
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SOFA++: A Real-Time GPU-based Surgical Robotics Simulator with Robust Frictional Contact
Siyuan Luo, Ziqiu Zeng, Fan Shi
ICRA 2025 ELSR Workshop
Paper
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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)
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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
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MRISA: A Visual Analytics Approach for Comparing Locomotion Policies in Robotics Training
Nan Li, Fan Shi, Xiaoyu Zhang, April Yi Wang
Graphics Inferface 2025
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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)
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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
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RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation
Christian Friedrich, Mario Gomez-Andreu, Gabriel Métois, Fan Shi, Marco Hutter, Robert Baines
RoboSoft 2025
Paper
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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
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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
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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.