Jing Yuan Luo — accepted AI-conference papers

2025

Demonstrating MuJoCo Playground

Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo +7

RSS 2025poster

We introduce MuJoCo Playground, a fully open-source framework for robot learning built with MJX, with the express goal of streamlining simulation, training, and sim-to-real transfer onto robots. With a simple installation process, researchers can train policies in minutes on a single GPU. Playground…

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2025

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

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

ICRA 2025

First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, significantly improving sample efficiency in robot control compared to standard model-free reinforcement learning. However

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