Publications

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Yen-Jen Wang^*, Jiaman Li^*,‡, Sirui Chen^§, Takara E. Truong^§, Pei Xu^§, Pieter Abbeel^†, Rocky Duan^†, Koushil Sreenath^†, Angjoo Kanazawa^†, Carmelo Sferrazza^†, Guanya Shi^†, C. Karen Liu^†

* Co-first authors · ‡ Project lead · § Equal contribution · † Amazon FAR Team Co-Lead

Tech Report, June 2026

Paper Project Page Video

Learning Dexterous Manipulation Skills from Imperfect Simulations

Elvis Hsieh^*, Wen-Han Hsieh^*, Yen-Jen Wang^*, Toru Lin, Jitendra Malik, Koushil Sreenath^†, Haozhi Qi^†

* Equal contribution (listed in alphabetical order). · † Equal advising.

IEEE International Conference on Robotics & Automation (ICRA), 2026

Paper Code Project Page

MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning

Yuanchen Ju^*, Yongyuan Liang^*, Yen-Jen Wang^*, Nandiraju Gireesh, Yuanliang Ju, Seungjae Lee, Qiao Gu, Elvis Hsieh, Furong Huang^†, Koushil Sreenath^†

∗ Equal Contribution · † Equal Advising

International Conference on Learning Representations (ICLR), 2026 Oral (Top 1%)

Paper Code Project Page

Coordinated Humanoid Manipulation with Choice Policies

Haozhi Qi^*, Yen-Jen Wang^*, Toru Lin, Brent Yi, Yi Ma, Koushil Sreenath^†, Jitendra Malik^†

* Equal contribution. † Equal advising.

Tech Report, December 2025

Paper Code (Teleop) Code (Policy) Project Page

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies

Zixuan Chen^*, Xialin He^*, Yen-Jen Wang^*, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng

*Equal contribution

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Paper Code Code (MimicKit) Project Page Video

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning

Xinyang Gu^*, Yen-Jen Wang^*, Xiang Zhu^*, Chengming Shi^*, Yanjiang Guo, Yichen Liu, Jianyu Chen^†

∗ Equal contribution. Project Co-lead. · † Corresponding Author.

Robotics: Science and Systems (RSS), 2024 Best Paper Award Finalist

Paper Code Project Page Video

Prompt a Robot to Walk with Large Language Models

Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

IEEE Conference on Decision and Control (CDC), 2024

Paper Code Project Page Video

DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment

Yanjiang Guo^*, Yen-Jen Wang^*, Lihan Zha^*, Jianyu Chen^†

∗ Equal contribution, listed alphabetically. · † Corresponding author.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Paper Project Page

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Xinyang Gu^*, Yen-Jen Wang^*, Jianyu Chen

∗ Equal contribution. Listed alphabetically.

ICRA Workshop on Agile Robotics, 2024

Paper Code Project Page Video

Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations

Yucheng Hu^*, Yanjiang Guo^*, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath^†, Chaochao Lu^†, Jianyu Chen^†

* indicates equal contributions · † indicates corresponding authors

International Conference on Machine Learning (ICML), 2025 Spotlight

Paper Code Project Page

Improving Vision-Language-Action Model with Online Reinforcement Learning

Yanjiang Guo^*, Jianke Zhang^*, Xiaoyu Chen^*, Xiang Ji, Yen-Jen Wang, Yucheng Hu, Jianyu Chen^†

∗ Equal contribution · † Corresponding author.

IEEE International Conference on Robotics & Automation (ICRA), 2025

Paper

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

Haoran Geng^*, Feishi Wang^*, Songlin Wei^*, Yuyang Li^*, Bangjun Wang^*, Boshi An^*, Charlie Tianyue Cheng^*, Haozhe Lou, Peihao Li, Yen-Jen Wang, Yutong Liang, Dylan Goetting, Chaoyi Xu, Haozhe Chen, Yuxi Qian, Yiran Geng, Jiageng Mao, Weikang Wan, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Carlo Sferrazza, Hao Dong, Siyuan Huang, Yue Wang, Jitendra Malik, Pieter Abbeel

*Equal Contribution

Robotics: Science and Systems (RSS), 2025

Paper Code Project Page

HuB: Learning Extreme Humanoid Balance

Tong Zhang^*, Boyuan Zheng^*, Ruiqian Nai, Yingdong Hu, Yen-Jen Wang, Geng Chen, Fanqi Lin, Jiongye Li, Chuye Hong, Koushil Sreenath, Yang Gao

*Equal Contribution

Conference on Robot Learning (CoRL), 2025

Paper Project Page Video

HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers

Jianke Zhang^*, Yanjiang Guo^*, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen^†

* These authors contributed equally to this work. · † Corresponding author.

Conference on Robot Learning (CoRL), 2024

Paper

Prediction with Action: Visual Policy Learning via Joint Denoising Process

Yanjiang Guo^*, Yucheng Hu^*, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu^†, Jianyu Chen^†

∗ Equal contribution. · † Corresponding author.

Advances in Neural Information Processing Systems (NeurIPS), 2024

Paper Project Page

Decentralized Motor Skill Learning for Complex Robotic Systems

Yanjiang Guo^*, Zheyuan Jiang^*, Yen-Jen Wang, Jingyue Gao, Jianyu Chen

∗ Equal contribution.

IEEE Robotics and Automation Letters (RA-L), 2023

Paper Video

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^†

⋆ These authors contributed equally to this work. · † Corresponding authors.

Survey, 2025

Paper