Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He
Neural Information Processing Systems (Spotlight), Neurips 2024
arxiv, Code, Website, Models, HF Code, News, Video, Bibtex

                            @inproceedings{wang2024hpt,
                              author    = {Lirui Wang, Xinlei Chen, Jialiang Zhao, Kaiming He},
                              title     = {Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformer},
                              booktitle = {Neurips},
                              year      = {2024}
                           }
                           

PoCo: Policy Composition From and For Heterogeneous Robot Learning
Lirui Wang, Jialiang Zhao, Yilun Du, Edward Adelson, Russ Tedrake
Robotics: Science and Systems (R:SS), 2024
arxiv, Website, Video, News, Bibtex,

                            @inproceedings{wang2024poco,
                              author    = {Lirui Wang, Jialiang Zhao, Yilun Du, Edward H. Adelson, Russ Tedrake},
                              title     = {Policy Composition From and For Heterogeneous Robot Learning},
                              booktitle = {Robotics: Science and Systems (R:SS), 2024},
                              year      = {2024}
                           }
                           

GenSim: Generating Robotic Simulation Tasks via Large Language Models
Lirui Wang, Yiyang Ling*, Zhecheng Yuan*, Mohit Shridhar, Chen Bao, Yuzhe Qin,
Bailin Wang, Huazhe Xu, Xiaolong Wang
Workshop on Language Grounding and Robot Learning (Best Paper), CoRL 2023
International Conference on Learning Representations (Spotlight), ICLR 2024
arXiv, Code, Website, Demo, Dataset, Video, News, Bibtex

                            @inproceedings{wang2023gensim,
                              author    = {Lirui Wang, Yiyang Ling*, Zhecheng Yuan*, Mohit Shridhar, Chen Bao, Yuzhe Qin, Bailin Wang, Huazhe Xu, Xiaolong Wang},
                              title     = {GenSim: Generating Robotic Simulation Tasks via Large Language Models},
                              booktitle = {The Twelfth International Conference on Learning Representations},
                              year      = {2023}
                           }
                           

Robot Fleet Learning via Policy Merging
Lirui Wang, Kaiqing Zhang, Allan Zhou, Max Simchowitz, Russ Tedrake
International Conference on Learning Representations (ICLR), 2024
arxiv, Code, Video, Bibtex

                            @article{wang2023fleet,
                             title={Robot Fleet Learning via Policy Merging},
                             author={Wang, Lirui and Zhang, Kaiqing and Zhou, Allan and Simchowitz, Max and Tedrake, Russ},
                             journal={The Twelfth International Conference on Learning Representations},
                             year={2023}
                           }
                           

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
The Conference on Robot Learning (CoRL), 2021
arXiv, Code, Video, Poster, Website, Bibtex

                                 @inproceedings{wang2022goal,
                                   title={Goal-auxiliary actor-critic for 6d robotic grasping with point clouds},
                                   author={Wang, Lirui and Xiang, Yu and Yang, Wei and Mousavian, Arsalan and Fox, Dieter},
                                   booktitle={Conference on Robot Learning},
                                   pages={70--80},
                                   year={2022},
                                   organization={PMLR}
                                 }
                                 

Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
Lirui Wang, Yu Xiang, Dieter Fox
Robotics: Science and Systems (R:SS), 2020
arXiv, Code, Video, Website, Bibtex

                                 @article{wang2019manipulation,
                                title={Manipulation trajectory optimization with online grasp synthesis and selection},
                                author={Wang, Lirui and Xiang, Yu and Fox, Dieter},
                                journal={Robotics: Science and Systems (R:SS), 2020},
                                year={2019}
                              }