publications

2025

  1. Science Robotics
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    Forces for Free: Vision-Based Contact Force Estimation with a Compliant Hand
    Yifan Zhu*, Mei Hao*, Xupeng Zhu*, and 3 more authors
    Science Robotics, 2025
    HTML
  2. RA-L
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    One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering
    Yifan Zhu, Tianyi Xiang, Aaron Dollar, and 1 more author
    IEEE Robotics and Automation Letters (RA-L), 2025
    arXiv PDF Code Website

2024

  1. IJSR
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    Immersive Commodity Telepresence with the Avatrina Robot Avatar
    J. M. Correia*, P. Naughton*and J.C. Peng*, Yifan Zhu*, and 7 more authors
    International Journal of Social Robotics (IJSR), 2024
    HTML
  2. AIAA SciTech
    Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment
    Pranay Thangeda, Ashish Goel, Erica L Tevere, and 6 more authors
    In AIAA SCITECH 2024 Forum, 2024
  3. arXiv
    Tactile Probabilistic Contact Dynamics Estimation of Unknown Objects
    Jinhoo Kim*, Yifan Zhu*, and A. Dollar
    2024
    arXiv
  4. CoRL
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    Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation
    Shaoxiong Yao, Yifan Zhu, and Kris Hauser
    In Conference on Robot Learning (CoRL), 2024
    PDF Website

2023

  1. R:SS
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    Few-shot Adaptation for Manipulating Granular Materials under Domain Shift
    Yifan Zhu*, P. Thangeda*, Melkior Ornik, and 1 more author
    In Robotics: Science and Systems (R:SS), 2023
    arXiv Website
  2. R:SS Workshop
    Pan-Tilt-Roll Televisualization With Adjustable Baseline Stereo
    Patrick Naughton, James Seungbum Nam, Joao MC Marques, and 4 more authors
    In ICRA 2023 2nd Workshop Toward Robot Avatars, 2023
  3. ICRA Workshop
    Commodity Telepresence with the AvaTRINA Nursebot in the ANA Avatar XPRIZE Finals
    Joao M. C. Marques, Jing-Chen Peng, Patrick Naughton, and 3 more authors
    In ICRA 2023 2nd Workshop Toward Robot Avatars, 2023

2022

  1. IROS
    Excavation of Fragmented Rocks with Multi-modal Model-based Reinforcement Learning
    Yifan Zhu, Liyang Wang, and Liangjun Zhang
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  2. RA-L
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    Automated Heart and Lung Auscultation in Robotic Physical Examinations
    Yifan Zhu, Alexander Smith, and Kris Hauser
    IEEE Robotics and Automation Letters (RA-L), 2022
    PDF
  3. RA-L
    Excavation Reinforcement Learning Using Geometric Representation
    Q. Lu*, Yifan Zhu*, and Liangjun Zhang
    IEEE Robotics and Automation Letters (RA-L), 2022
  4. R:SS Workshop
    Commodity telepresence with the AvaTRINA nursebot in the ANA Avatar XPRIZE semifinals
    JM Marques, N Patrick, Yifan Zhu, and 2 more authors
    In R:SS 2022 Workshop on Towards robot avatars: perspectives on the ANA Avatar XPRIZE competition, 2022

2021

  1. ICRA
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    Contact-Implicit Trajectory Optimization With Learned Deformable Contacts Using Bilevel Optimization
    Yifan Zhu, Zherong Pan, and Kris Hauser
    In IEEE International Conference on Robotics and Automation (ICRA), 2021
    PDF
  2. ICRA Workshop
    Informative path planning for automatic robotic auscultation
    Yifan Zhu, Alexander Smith, and Kris Hauser
    In ICRA 2021 Workshop on Impact of COVID-19 on Medical Robotics and Wearables Research, 2021
  3. ICRA
    A Novel Robotic System for Ultrasound-guided Peripheral Vascular Localization
    Guangshen Ma, Siobhan R. Oca, Yifan Zhu, and 2 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2021

2020

  1. ICRA
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    Semi-Empirical Simulation of Learned Force Response Models for Heterogeneous Elastic Objects
    Yifan Zhu, Kai Lu, and Kris Hauser
    In IEEE International Conference on Robotics and Automation (ICRA), 2020

2019

  1. ICRA
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    A Data-driven Approach for Fast Simulation of Robot Locomotion on Granular Media
    Yifan Zhu, Laith Abdulmajeid, and Kris Hauser
    In International Conference on Robotics and Automation (ICRA), 2019
    PDF