Quanquan Peng — accepted AI-conference papers

2026

Embodiment‑Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control

Quanquan Peng, Yunfeng Lin, Yufei Xue, Jiangmiao Pang, Weinan Zhang

ICRA 2026poster

Humanoid Whole-Body Controllers trained with reinforcement learning (RL) have recently achieved remarkable performance, yet many target a single robot embodiment. Variations in dynamics, degrees of freedom (DoFs), and kinematic topology still hinder a single policy from commanding diverse humanoids.…

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2025

Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition

Shengcheng Luo, Quanquan Peng, Jun Lv, Kaiwen Hong, Katherine Rose Driggs-Campbell, Cewu Lu +1

ICRA 2025

Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system presents inherent challenges due to the task's high dimension

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