publications

2026

1. 

   Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers

   Tianyue Wu^*, Boyuan An^*, Shuqi Zhao, Heyu Guo, Wanli Xing, Yi Ma, Kaifeng Zhang, Ruihai Wu^†, and Masayoshi Tomizuka^†

   Video Generation + Dexterous Manipulation 2026

   Website Video arXiv PDF Code

2. 

   EgoPush: Learning End-to-End Egocentric Multi-Object Rearrangement for Mobile Robots

   Boyuan An, Zhexiong Wang, Yipeng Wang, Jiaqi Li, Sihang Li^†, Jing Zhang^†, and Chen Feng^†

   RL + Distillation 2026

   Website arXiv PDF

2025

1. 

   Learning Tractor-Trailer Robots navigation through First Order Model-based RL

   Tianyu Zhao^*, Boyuan An^*, and Fei Gao^†

   Model-based RL 2025

   Research under development at ZJU FAST Lab

2. 

   Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments

   Long Xu, Kaixin Chai, Boyuan An, Shuhang Ji, Zhenyu Hou, Jiaxiang Gan, Qianhao Wang, Yuan Zhou, Xiaoying Li, Junxiao Lin, Zhichao Han, Chao Xu, Yanjun Cao, and Fei Gao^†

   Motion Planning 2025

   IEEE Transactions on Automation Science and Engineering (T-ASE)

   Also presented at ICRA 2026

   Video arXiv PDF Code