Yunhai Feng

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Hi! I'm a first-year Ph.D. student in Computer Science at Cornell University.

Before joining Cornell, I received my Master's degree from UC San Diego🌊, where I worked with Prof. Xiaolong Wang, and my Bachelar's degree from 🐳Nanjing University.

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Publications

owmcorl
Finetuning Offline World Models in the Real World

Yunhai Feng*, Nicklas Hansen*, Ziyan Xiong*, Chandramouli Rajagopalan, Xiaolong Wang

Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023
Oral presentation

arXiv Website Code BibTeX

@inproceedings{feng2023finetuning,
  title={Finetuning Offline World Models in the Real World},
  author={Feng, Yunhai and Hansen, Nicklas and Xiong, Ziyan and Rajagopalan, Chandramouli and Wang, Xiaolong},
  booktitle={Proceedings of the 7th Conference on Robot Learning (CoRL)},
  year={2023}
}

SAM-RL
SAM-RL: Sensing-Aware Model-based Reinforcement Learning via Differentiable Physics-based Simulation and Rendering

Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao*, Cewu Lu*

Proceedings of Robotics: Science and Systems (RSS), July 2023
🏆 Best System Paper Award Finalist

arXiv Website Video BibTeX

@inproceedings{lv2023sam,
  title={SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering},
  author={Lv, Jun and Feng, Yunhai and Zhang, Cheng and Zhao, Shuang and Shao, Lin and Lu, Cewu},
  booktitle={Proceedings of Robotics: Science and Systems (RSS)},
  year={2023}
}

ViPRoM
Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods

Ya Jing*, Xuelin Zhu*, Xingbin Liu*, Qie Sima, Taozheng Yang, Yunhai Feng, Tao Kong

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023
CoRL 2022 Workshop on Pre-training for Robot Learning, December 2022

arXiv Website Video BibTeX

@inproceedings{jing2023explore
  author={Ya Jing, Xuelin Zhu, Xingbin Liu, Qie Sima, Taozheng Yang, Yunhai Feng, Tao Kong},
  title={Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2023}
}

RGV3
Design and Control of Roller Grasper V3 for In-Hand Manipulation

Shenli Yuan, Lin Shao, Yunhai Feng, Jiatong Sun, Teng Xue, Connor Yako, Jeannette Bohg, Kenneth Salisbury

Website Video

Teaching

Service

  • Conference reviewer: IROS 2023, ICRA 2024
  • Journal reviewer: IEEE Robotics and Automation Letters (RA-L)

Awards

  • Best System Paper Award Finalist, RSS 2023
  • Graduate Excellence Award, 2022
  • Special Scholarship for Fundamental Subjects, 2021
  • People's Scholarship (first prize), 2021
  • National Elite Program Scholarship (first prize), 2020
  • National Elite Program Scholarship (specialty prize), 2019