publications

2026

1. Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data

   Tianyu Li^* , Yihan Li^*, Zizhe Zhang, and Nadia Figueroa

   IEEE International Conference on Robotics (ICRA), 2026

   arXiv / pdf / Website

2025

1. IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance

   Yifan Zeng^* , Yihan Li^*, Suiyi He, Koushil Sreenath, and Jun Zeng

   Under Review, 2025

   arXiv / pdf /
2. VLMGINEER: Vision Language Models as Robotic Toolsmiths

   George Jiayuan Gao^*, Tianyu Li^*, Junyao Shi , Yihan Li^†, Zizhe Zhang^†, Nadia Figueroa, and Dinesh Jayaraman

   14th International Conference on Learning Representations (ICLR 2026),
   Oral Spotlight at RSS Workshop on Robot Hardware-Aware Intelligence, 2025

   arXiv / pdf / Website

2023

1. I2LQR: Iterative LQR for iterative tasks in dynamic environments

   Yifan Zeng, Suiyi He, Han Hoang Nguyen , Yihan Li , Zhongyu Li, Koushil Sreenath, and Jun Zeng

   2023 62nd IEEE Conference on Decision and Control (CDC), 2023

   arXiv / pdf /