Yunhao Cao — accepted AI-conference papers

2026

Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration

Xingyi He, Adhitya Polavaram, Yunhao Cao, Om Deshmukh, Tianrui Wang, Xiaowei Zhou +1

ICRA 2026poster

Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of integrated semantic and geometric reasoning in learned models.…

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2024

Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion

Laura Smith, Yunhao Cao, Sergey Levine

ICRA 2024poster

Deep reinforcement learning can enable robots to autonomously acquire complex behaviors such as legged locomotion. However, RL in the real world is complicated by constraints on efficiency, safety, and overall training stability, which limits its practical applicability. We present APRL, a policy re…

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