GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models

Y Chen, Z Cao, X Peng, Y Zheng, X Si, Y Li, L Yan, K Zhu, X Chen, S Fu, T Zhan, Y Jia, J Yao, Y Xie, K Wang, C Lu, Y Gao

CoRL 2026 · Accepted Conference on Robot Learning, 2026.

arXiv

GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning

Y Jia, H Zhang, Z Zhang, J Wu, M Yu, Z Wang, D Jiang, Z Li, C Cao, Z Yu, ...

RSS 2026 · Accepted Robotics: Science and Systems (RSS), 2026.

ScholararXivProject

HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control

Y Chen, Z Zhang, Z Cao, Y Chen, S Fu, L Yan, Y Zhang, J Liu, H Li, Y Gao

ICRA 2026 · Accepted IEEE International Conference on Robotics and Automation (ICRA), 2026.

ScholararXiv

FocusNav: Spatial Selective Attention with Waypoint Guidance for Humanoid Local Navigation

Y Zhang, J Ma, L Yan, Z Cao, Y Zhang, H Li, Y Gao

arXiv preprint arXiv:2601.12790, 2026.

ScholararXiv

Keep On Going: Learning Robust Humanoid Motion Skills via Selective Adversarial Training

Y Zhang, Z Cao, B Nie, H Li, Z Jiangwei, Q Sun, X Hu, X Yang, Y Gao

AAAI 2026 · Published Proceedings of the AAAI Conference on Artificial Intelligence, 40 (22), 18800-18808, 2026.

ScholarDOIarXiv

Coordinated Humanoid Robot Locomotion with Symmetry Equivariant Reinforcement Learning Policy

B Nie, Y Zhang, R Jin, Z Cao, H Lin, X Yang, Y Gao

AAAI 2026 · Published Proceedings of the AAAI Conference on Artificial Intelligence, 40 (22), 18523-18531, 2026.

ScholarDOIarXiv

Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots

Y Zhang, B Nie, Z Cao, Y Fu, Y Gao

ICRA 2026 · Accepted IEEE International Conference on Robotics and Automation (ICRA), 2026.

ScholararXiv

Contrastive Forward Prediction Reinforcement Learning for Adaptive Fault-Tolerant Legged Robots

Y Fu, Y Zhang, Q Yang, L Yan, Z Cao, Y Gao

CoRL 2025 · Published Proceedings of The 9th Conference on Robot Learning, PMLR 305:3285-3303, 2025.

ScholarPMLR

Anticipate Before Act: Prediction Based Constrained Reinforcement Learning Framework for Skiing Robot Control

H Li, X Yang, J Zhu, Z Cao, Y Zhang, Y Gao

RA-L 2025 · Published IEEE Robotics and Automation Letters 10 (12), 13169-13176, 2025.

ScholarDOI

Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration

C Ming, Z Wang, B Zhang, Z Cao, X Duan, J He

RA-L 2025 · Published IEEE Robotics and Automation Letters 10 (6), 6127-6134, 2025.

ScholarDOI

Constrained Dirichlet Distribution Policy: Guarantee Zero Constraint Violation Reinforcement Learning for Continuous Robotic Control

J Ma, Z Cao, Y Gao

RA-L 2024 · Published IEEE Robotics and Automation Letters 9 (12), 11690-11697, 2024.

ScholarDOI

Real is Better than Perfect: Sim-to-Real Robotic System in Secondary School Education

J Gao, H Guo, Z Cao, P Huang, G Zhou

IROS 2023 · Published IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 4480-4487.

ScholarDOI

Safety Protection for Reinforcement Learning-Based Motion Policy Improvement in Legged Robots

Y Zhang, Y Gao, Z Cao

SSRN working paper 5067499, 2024.

ScholarSSRN