Pengfei Yi

2 accepted papers

2026

FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation

Litao Liu, Wentao Wang, Yifan Han, Zhuoli Xie, Pengfei Yi, Junyan Li +1

AAAI 2026technical

Multi-task imitation learning (MTIL) has shown significant potential in robotic manipulation by enabling agents to perform various tasks using a single policy. It simplifies the policy deployment and enhances the agent

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2025

Splatter Joint: 3D Gaussian Splatting for Articulated Objects

Junyan Li, Yifan Han, Pengfei Yi, Wenzhao Lian

IROS 2025

3D reconstruction methods such as 3D Gaussian Splatting (3DGS), have achieved significant advancements in recent years. However, the study of articulated objects remains limited due to their geometric and dynamic complexity. We propose Splatter Joint, a novel method that models articulated objects,

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