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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<title>Horizon Robotics GAIL</title>
<link rel="icon" type="image/x-icon" href="resources/favicon.ico">
<link rel="stylesheet" href="style.css">
</head>
<body>
<header>
<h1>Welcome to GAIL</h1>
</header>
<main>
<!-- Projects Section -->
<section id="projects">
<h2>Projects</h2>
<ul>
<li>
<a href="https://github.com/HorizonRobotics/alf" target="_blank" rel="noopener noreferrer"><strong>ALF</strong>: Agent Learning Framework</a>
<img src="https://img.shields.io/github/stars/HorizonRobotics/alf?style=social" alt="GitHub stars">
</li>
<li><a href="SLIM/" target="_blank" rel="noopener noreferrer"><strong>SLIM Project</strong>: Sim-to-Real Legged Instructive Manipulation</a></li>
</ul>
</section>
<!-- Publications Section -->
<section id="publications">
<h2>Publications</h2>
<!-- 2025 -->
<div class="year-header">2025</div>
<ul>
<li>
<strong>Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator</strong><br>
Haichao Zhang, Haonan Yu, Le Zhao, Andrew Choi, Qinxun Bai, Yiqing Yang, Wei Xu<br>
<em>IEEE Robotics and Automation Letters</em> (<strong>RA-L</strong>), 2025 <br>
<a href="https://arxiv.org/abs/2509.03859" target="_blank" rel="noopener noreferrer">[PDF]</a>
<a href="https://horizonrobotics.github.io/gail/SLIM/" target="_blank" rel="noopener noreferrer">[Project Page]</a>
</li>
<li>
<strong>Generalized Tangent Kernel: A Unified Geometric Foundation for Natural Gradient and Standard Gradient</strong><br>
Qinxun Bai*, Steven Rosenberg*, Wei Xu<br>
<em>Transactions on Machine Learning Research </em> (<strong>TMLR</strong>), 2025 <br>
<a href="https://openreview.net/pdf?id=HOnL5hjaIt" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Concurrent Learning with Aggregated States via Randomized Least Squares Value Iteration</strong><br>
Yan Chen, Qinxun Bai, Yiteng Zhang, Shi Dong, Maria Dimakopoulou, Qi Sun, Zhengyuan Zhou<br>
<em>International Conference on Machine Learning</em> (<strong>ICML</strong>), 2025<br>
<a href="https://arxiv.org/abs/2501.13394" target="_blank" rel="noopener noreferrer">[PDF]</a>
</ul>
<div class="year-header">2024</div>
<ul>
<li>
<strong>VONet: Unsupervised Video Object Learning With Parallel U-Net Attention and Object-wise Sequential VAE</strong><br>
Haonan Yu and Wei Xu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2024<br>
<a href="https://arxiv.org/abs/2401.11110" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/hnyu/vonet" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>FuRL: Visual-Language Models as Fuzzy Rewards for Reinforcement Learning</strong><br>
Yuwei Fu, Haichao Zhang, Di Wu, Wei Xu and Benoit Boulet<br>
<em>International Conference on Machine Learning</em> (<strong>ICML</strong>), 2024<br>
<a href="https://arxiv.org/abs/2406.00645" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://sites.google.com/site/hczhang1/projects/furl" target="_blank" rel="noopener noreferrer">[Project Page]</a> <a href="https://github.com/fuyw/FuRL" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Enhancing Diversity in Bayesian Deep Learning via Hyperspherical Energy Minimization of CKA</strong><br>
David Smerkous, Qinxun Bai, Fuxin Li<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2024<br>
<a href="https://arxiv.org/abs/2411.00259" target="_blank" rel="noopener noreferrer">[PDF]</a>
<li>
<strong>Robot Policy Learning with Temporal Optimal Transport Reward</strong><br>
Yuwei Fu, Haichao Zhang, Di Wu, Wei Xu, Benoit Boulet<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2024<br>
<a href="https://arxiv.org/abs/2410.21795" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/fuyw/TemporalOT" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
</ul>
<div class="year-header">2023</div>
<ul>
<li>
<strong>Policy Expansion for Bridging Offline-to-Online Reinforcement Learning</strong><br>
Haichao Zhang, Wei Xu and Haonan Yu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2023<br>
<a href="https://arxiv.org/pdf/2302.00935.pdf" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://sites.google.com/site/hczhang1/projects/pex" target="_blank" rel="noopener noreferrer">[Project Page]</a> <a href="https://github.com/Haichao-Zhang/PEX" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework</strong><br>
Lingfeng Sun*, Haichao Zhang*, Wei Xu and Masayoshi Tomizuka<br>
<em>IEEE Robotics and Automation Letters </em> (<strong>RA-L</strong>), 2023<br>
<a href="https://arxiv.org/pdf/2306.01839" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
</ul>
<div class="year-header">2022</div>
<ul>
<li>
<strong>Generative Planning for Temporally Coordinated Exploration in Reinforcement Learning</strong><br>
Haichao Zhang, Wei Xu and Haonan Yu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2022 Spotlight<br>
<a href="https://openreview.net/pdf?id=YZHES8wIdE" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://sites.google.com/site/hczhang1/projects/generative-planning" target="_blank" rel="noopener noreferrer">[Project Page]</a> <a href="https://drive.google.com/file/d/1NEKFIUWGrUMfCkyTfEt8_Z5wcA41Apes/view?usp=sharing" target="_blank" rel="noopener noreferrer">[Slides]</a> <a href="https://github.com/Haichao-Zhang/generative-planning" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Distributionally Robust Q-Learning</strong><br>
Zijian Liu, Qinxun Bai, Jose Blanchet, Perry Dong, Wei Xu, Zhengqing Zhou and Zhengyuan Zhou<br>
<em>International Conference on Machine Learning</em> (<strong>ICML</strong>), 2022<br>
<a href="https://openreview.net/pdf?id=YZHES8wIdE" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://sites.google.com/site/hczhang1/projects/generative-planning" target="_blank" rel="noopener noreferrer">[Project Page]</a> <a href="https://drive.google.com/file/d/1NEKFIUWGrUMfCkyTfEt8_Z5wcA41Apes/view?usp=sharing" target="_blank" rel="noopener noreferrer">[Slides]</a> <a href="https://github.com/Haichao-Zhang/generative-planning" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>PaCo: Parameter-Compositional Multi-Task Reinforcement Learning</strong><br>
Lingfeng Sun*, Haichao Zhang*, Wei Xu and Masayoshi Tomizuka<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2022<br>
<a href="https://arxiv.org/abs/2210.11653" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://sites.google.com/site/hczhang1/projects/paco-mtrl" target="_blank" rel="noopener noreferrer">[Project Page]</a> <a href="https://github.com/TToTMooN/paco-mtrl" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Towards Safe Reinforcement Learning with a Safety Editor Policy</strong><br>
Haonan Yu, Wei Xu and Haichao Zhang<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2022<br>
<a href="https://arxiv.org/abs/2201.12427" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/hnyu/seditor" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
</ul>
<div class="year-header">2021</div>
<ul>
<li>
<strong>Mutual Information State Intrinsic Control</strong><br>
Rui Zhao, Yang Gao, Pieter Abbeel, Volker Tresp and Wei Xu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2021<br>
<a href="https://openreview.net/pdf?id=OthEq8I5v1" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/ruizhaogit/music" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Hierarchical Reinforcement Learning By Discovering Intrinsic Options</strong><br>
Jesse Zhang, Haonan Yu and Wei Xu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2021<br>
<a href="https://arxiv.org/abs/2101.06521" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/jesbu1/hidio" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
<li>
<strong>Generative Particle Variational Inference via Estimation of Functional Gradients</strong><br>
Neale Ratzlaff, Qinxun Bai, Li Fuxin and Wei Xu<br>
<em>International Conference on Machine Learning</em> (<strong>ICML</strong>), 2021<br>
<a href="https://arxiv.org/abs/2103.01291" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards</strong><br>
Siyu Dai, Wei Xu, Andreas Hofmann and Brian Williams<br>
<em>Robotics: Science and Systems </em> (<strong>RSS</strong>), 2021<br>
<a href="https://www.roboticsproceedings.org/rss17/p001.pdf" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>TAAC: Temporally Abstract Actor-Critic for Continuous Control</strong><br>
Haonan Yu, Wei Xu and Haichao Zhang<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2021<br>
<a href="https://arxiv.org/abs/2104.06521" target="_blank" rel="noopener noreferrer">[PDF]</a> <a href="https://github.com/hnyu/taac" target="_blank" rel="noopener noreferrer">[Code]</a>
</li>
</ul>
<div class="year-header">Relevant Publications Before 2021 (including prior work)</div>
<ul>
<li>
<strong>Implicit Generative Modeling for Efficient Exploration</strong><br>
Neale Ratzlaff, Qinxun Bai, Li Fuxin and Wei Xu<br>
<em>International Conference on Machine Learning</em> (<strong>ICML</strong>), 2020<br>
<a href="https://arxiv.org/abs/1911.08017" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Moment Matching for Multi-Source Domain Adaptation</strong><br>
Xingchao Peng, Qinxun Bai, Xide Xia, Zijun Huang, Kate Saenko, Bo Wang<br>
<em>International Conference on Computer Vision </em> (<strong>ICCV</strong>), 2019<br>
<a href="https://arxiv.org/abs/1812.01754" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Defense Against Adversarial Attacks Using Feature Scattering-based Adversarial Training</strong><br>
Haichao Zhang and Jianyu Wang<br>
<em>Advances in Neural Information Processing Systems</em> (<strong>NeurIPS</strong>), 2019<br>
<a href="https://arxiv.org/abs/1907.10764" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Interactive Grounded Language Acquisition and Generalization in a 2D World</strong><br>
Haonan Yu, Haichao Zhang and Wei Xu<br>
<em>International Conference on Learning Representations</em> (<strong>ICLR</strong>), 2018<br>
<a href="https://arxiv.org/abs/1802.01433" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Guided Feature Transformation (GFT): A Neural Language Grounding Module for Embodied Agents</strong><br>
Haonan Yu, Xiaochen Lian, Haichao Zhang and Wei Xu<br>
<em>Annual Conference on Robot Learning</em> (<strong>CoRL</strong>), 2018<br>
<a href="https://arxiv.org/abs/1802.01433" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Interactive Language Acquisition with One-shot Visual Concept Learning through a Conversational Game</strong><br>
Haichao Zhang, Haonan Yu and Wei Xu<br>
<em>The 56th Annual Meeting of the Association for Computational Linguistics</em> (<strong>ACL</strong>), 2018<br>
<a href="https://aclanthology.org/P18-1243/" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
<li>
<strong>Listen, Interact and Talk: Learning to Speak via Interaction</strong><br>
Haichao Zhang, Haonan Yu and Wei Xu<br>
<em>NIPS Workshop on Visually-Grounded Interaction and Language</em> (<strong>NIPS-ViGIL</strong>), 2017<br>
<a href="https://arxiv.org/abs/1705.09906" target="_blank" rel="noopener noreferrer">[PDF]</a>
</li>
</ul>
</section>
</main>
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<p class="footer-text"><strong>Horizon Robotics GAIL</strong></p>
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