Zi-ang Cao (original) (raw)

Selected Publications

Humanoids

	Hand-Eye Autonomous Delivery (HEAD): Learning Humanoid Navigation, Locomotion and Reaching Sirui Chen* , Yufei Ye* ,Zi-ang Cao*, Jennifer Lew , Pei Xu , C. Karen Liu. , Conference on Robot Learning (CoRL), 2025. * indicates equal contribution. [arXiv] [Project Site] Teach humanoid robots to navigate complex environments autonomously and deliver their hands to any specified target.

	TWIST: Teleoperated Whole-Body Imitation System Yanjie Ze , Zixuan Chen , João Araújo ,Zi-ang Cao, Xue Bin Peng , Jiajun Wu , C. Karen Liu. , Conference on Robot Learning (CoRL), 2025 . [arXiv] [Project Site] Versatile, Coordinated, Whole-Body Skills for Humanoid Robots via Teleoperation.

Equivariance Imitation Learning

Failure Detection

Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress Christopher Agia , Rohan Sinha , Jingyun Yang ,Zi-ang Cao, Rika Antonova , Marco Pavone , Jeannette Bohg Conference on Robot Learning (CoRL), 2024 [arXiv] [Project Site] Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. In this work, we present Sentinel, a runtime monitor that detects unknown failures (requiring no data of failures) of generative robot policies at deployment time.

Sim 2 Real