Yifan Zhai — accepted AI-conference papers

2026

Learning on the Fly: Rapid Policy Adaptation Via Differentiable Simulation

Jiahe Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout, Davide Scaramuzza

ICRA 2026poster

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where unmodeled dynamics and environmental disturbances can degrade polic…

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2021

Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations

Trevor Ablett, Yifan Zhai, Jonathan Kelly

IROS 2021poster

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A successful multiview policy could be deployed on a mobile ma…

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