Welcome to GAIL

Projects

• ALF: Agent Learning Framework
• SLIM Project: Sim-to-Real Legged Instructive Manipulation

Publications

• Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator
  Haichao Zhang, Haonan Yu, Le Zhao, Andrew Choi, Qinxun Bai, Yiqing Yang, Wei Xu
  IEEE Robotics and Automation Letters (RA-L), 2025
  [PDF] [Project Page]
• Generalized Tangent Kernel: A Unified Geometric Foundation for Natural Gradient and Standard Gradient
  Qinxun Bai*, Steven Rosenberg*, Wei Xu
  Transactions on Machine Learning Research (TMLR), 2025
  [PDF]
• Concurrent Learning with Aggregated States via Randomized Least Squares Value Iteration
  Yan Chen, Qinxun Bai, Yiteng Zhang, Shi Dong, Maria Dimakopoulou, Qi Sun, Zhengyuan Zhou
  International Conference on Machine Learning (ICML), 2025
  [PDF]

• VONet: Unsupervised Video Object Learning With Parallel U-Net Attention and Object-wise Sequential VAE
  Haonan Yu and Wei Xu
  International Conference on Learning Representations (ICLR), 2024
  [PDF] [Code]
• FuRL: Visual-Language Models as Fuzzy Rewards for Reinforcement Learning
  Yuwei Fu, Haichao Zhang, Di Wu, Wei Xu and Benoit Boulet
  International Conference on Machine Learning (ICML), 2024
  [PDF] [Project Page] [Code]
• Enhancing Diversity in Bayesian Deep Learning via Hyperspherical Energy Minimization of CKA
  David Smerkous, Qinxun Bai, Fuxin Li
  Advances in Neural Information Processing Systems (NeurIPS), 2024
  [PDF]
• Robot Policy Learning with Temporal Optimal Transport Reward
  Yuwei Fu, Haichao Zhang, Di Wu, Wei Xu, Benoit Boulet
  Advances in Neural Information Processing Systems (NeurIPS), 2024
  [PDF] [Code]

• Policy Expansion for Bridging Offline-to-Online Reinforcement Learning
  Haichao Zhang, Wei Xu and Haonan Yu
  International Conference on Learning Representations (ICLR), 2023
  [PDF] [Project Page] [Code]
• Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
  Lingfeng Sun*, Haichao Zhang*, Wei Xu and Masayoshi Tomizuka
  IEEE Robotics and Automation Letters (RA-L), 2023
  [PDF]

• Generative Planning for Temporally Coordinated Exploration in Reinforcement Learning
  Haichao Zhang, Wei Xu and Haonan Yu
  International Conference on Learning Representations (ICLR), 2022 Spotlight
  [PDF] [Project Page] [Slides] [Code]
• Distributionally Robust Q-Learning
  Zijian Liu, Qinxun Bai, Jose Blanchet, Perry Dong, Wei Xu, Zhengqing Zhou and Zhengyuan Zhou
  International Conference on Machine Learning (ICML), 2022
  [PDF] [Project Page] [Slides] [Code]
• PaCo: Parameter-Compositional Multi-Task Reinforcement Learning
  Lingfeng Sun*, Haichao Zhang*, Wei Xu and Masayoshi Tomizuka
  Advances in Neural Information Processing Systems (NeurIPS), 2022
  [PDF] [Project Page] [Code]
• Towards Safe Reinforcement Learning with a Safety Editor Policy
  Haonan Yu, Wei Xu and Haichao Zhang
  Advances in Neural Information Processing Systems (NeurIPS), 2022
  [PDF] [Code]

• Mutual Information State Intrinsic Control
  Rui Zhao, Yang Gao, Pieter Abbeel, Volker Tresp and Wei Xu
  International Conference on Learning Representations (ICLR), 2021
  [PDF] [Code]
• Hierarchical Reinforcement Learning By Discovering Intrinsic Options
  Jesse Zhang, Haonan Yu and Wei Xu
  International Conference on Learning Representations (ICLR), 2021
  [PDF] [Code]
• Generative Particle Variational Inference via Estimation of Functional Gradients
  Neale Ratzlaff, Qinxun Bai, Li Fuxin and Wei Xu
  International Conference on Machine Learning (ICML), 2021
  [PDF]
• An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards
  Siyu Dai, Wei Xu, Andreas Hofmann and Brian Williams
  Robotics: Science and Systems (RSS), 2021
  [PDF]
• TAAC: Temporally Abstract Actor-Critic for Continuous Control
  Haonan Yu, Wei Xu and Haichao Zhang
  Advances in Neural Information Processing Systems (NeurIPS), 2021
  [PDF] [Code]

• Implicit Generative Modeling for Efficient Exploration
  Neale Ratzlaff, Qinxun Bai, Li Fuxin and Wei Xu
  International Conference on Machine Learning (ICML), 2020
  [PDF]
• Moment Matching for Multi-Source Domain Adaptation
  Xingchao Peng, Qinxun Bai, Xide Xia, Zijun Huang, Kate Saenko, Bo Wang
  International Conference on Computer Vision (ICCV), 2019
  [PDF]
• Defense Against Adversarial Attacks Using Feature Scattering-based Adversarial Training
  Haichao Zhang and Jianyu Wang
  Advances in Neural Information Processing Systems (NeurIPS), 2019
  [PDF]
• Interactive Grounded Language Acquisition and Generalization in a 2D World
  Haonan Yu, Haichao Zhang and Wei Xu
  International Conference on Learning Representations (ICLR), 2018
  [PDF]
• Guided Feature Transformation (GFT): A Neural Language Grounding Module for Embodied Agents
  Haonan Yu, Xiaochen Lian, Haichao Zhang and Wei Xu
  Annual Conference on Robot Learning (CoRL), 2018
  [PDF]
• Interactive Language Acquisition with One-shot Visual Concept Learning through a Conversational Game
  Haichao Zhang, Haonan Yu and Wei Xu
  The 56th Annual Meeting of the Association for Computational Linguistics (ACL), 2018
  [PDF]
• Listen, Interact and Talk: Learning to Speak via Interaction
  Haichao Zhang, Haonan Yu and Wei Xu
  NIPS Workshop on Visually-Grounded Interaction and Language (NIPS-ViGIL), 2017
  [PDF]