Research

1. 

   Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation

   Dian Wang*, Jisang Park*, Xiaomeng Xu, Han Zhang, Shuran Song†, Jeannette Bohg†

   Preprint

   ProjectPDFVideoCode
2. 

   Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification

   Haojie Huang, Zhang Ye, Linfeng Zhao, Boce Hu, Mingxi Jia, Yu Qi, Ahmed Agha, Dian Wang, Robert Platt, Robin Walters

   Preprint

   ProjectPDF
3. 

   Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation

   Haojie Huang, Linfeng Zhao, Haotian Liu, Zhang Ye, Si-Yuan Huang, Mingxi Jia, Boce Hu, Fangzhou Lin, Yu Qi, Dian Wang, Robin Walters, Robert Platt

   Preprint

   ProjectPDF
4. 

   HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations

   Xiaomeng Xu, Jisang Park, Han Zhang, Eric Cousineau, Aditya Bhat, Jose Barreiros, Dian Wang, Jeannette Bohg, Shuran Song

   RSS 2026

   ProjectPDFVideoCode
5. 

   Equivariant Diffusion Policy for Sample-Efficient Robotic Manipulation

   Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Xupeng Zhu, Boce Hu, Mingxi Jia, Jiuguang Wang, Robin Walters, Robert Platt

   IJRR 2026

   PDF
6. 

   Residual Rotation Correction using Tactile Equivariance

   Yizhe Zhu, Zhang Ye, Boce Hu, Haibo Zhao, Yu Qi, Dian Wang†, Robert Platt†

   RAL 2026

   ProjectPDF
7. 

   Generalizable Hierarchical Skill Learning via Object-Centric Representation

   Haibo Zhao, Yu Qi, Boce Hu, Yizhe Zhu, Ziyan Chen, Xupeng Zhu, Owen Howell, Haojie Huang, Robin Walters, Dian Wang†, Robert Platt†

   RAL 2026

   ProjectPDF
8. 

   RAVEN: End-to-end Equivariant Robot Learning with RGB Cameras

   David Klee*, Boce Hu*, Andrew Cole, Heng Tian, Dian Wang, Robert Platt†, Robin Walters†

   ICLR 2026

   PDF
9. 

   A Practical Guide for Incorporating Symmetry in Diffusion Policy

   Dian Wang, Boce Hu, Shuran Song, Robin Walters†, Robert Platt†

   NeurIPS 2025

   ProjectPDF
10. 

    3D Equivariant Visuomotor Policy Learning via Spherical Projection

    Boce Hu, Dian Wang, David Klee, Heng Tian, Xupeng Zhu, Haojie Huang, Robert Platt, Robin Walters

    NeurIPS 2025, Spotlight

    ProjectPDF
11. 

    Hierarchical Equivariant Policy via Frame Transfer

    Haibo Zhao*, Dian Wang*, Yizhe Zhu, Xupeng Zhu, Owen Howell, Linfeng Zhao, Yaoyao Qian, Robin Walters, Robert Platt

    ICML 2025

    ProjectPDF
12. 

    Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization

    Boce Hu*, Heng Tian*, Dian Wang, Haojie Huang, Xupeng Zhu, Robin Walters, Robert Platt

    RAL 2025

    ProjectPDF
13. 

    Learning Efficient and Robust Language-conditioned Manipulation using Textual-Visual Relevancy and Equivariant Language Mapping

    Mingxi Jia, Haojie Huang, Zhewen Zhang, Chenghao Wang, Linfeng Zhao, Dian Wang, Jason Xinyu Liu, Robin Walters, Robert Platt, Stefanie Tellex

    RAL 2025, Best Paper Award Honorable Mention

    ProjectPDF
14. 

    Coarse-to-Fine 3D Keyframe Transporter

    Xupeng Zhu, David Klee*, Dian Wang*, Boce Hu, Haojie Huang, Arsh Tangri, Robin Walters, Robert Platt

    Preprint

    PDF
15. 

    MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies

    Haojie Huang, Haotian Liu, Dian Wang, Robin Walter†, Robert Platt†

    ICRA 2025

    ProjectPDF
16. 

    Equivariant Diffusion Policy

    Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt

    CoRL 2024, Outstanding Paper Award Finalist

    ProjectPDFVideoTalkCode
17. 

    OrbitGrasp: SE(3)-Equivariant Grasp Learning

    Boce Hu, Xupeng Zhu*, Dian Wang*, Zihao Dong*, Haojie Huang*, Chenghao Wang*, Robin Walters, Robert Platt

    CoRL 2024

    ProjectPDFVideo
18. 

    IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies

    Haojie Huang, Karl Schmeckpeper*, Dian Wang*, Ondrej Biza*, Yaoyao Qian, Haotian Liu, Mingxi Jia, Robert Platt, Robin Walters

    CoRL 2024

    ProjectPDFVideo
19. 

    Equivariant Offline Reinforcement Learning

    Arsh Tangri, Ondrej Biza, Dian Wang, David Klee, Owen Howell, Robert Platt

    Preprint

    PDF
20. 

    Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D

    Haojie Huang, Owen Lewis Howell*, Dian Wang*, Xupeng Zhu*, Robert Platt†, Robin Walters†

    ICLR 2024

    ProjectPDFVideo
21. 

    Leveraging Symmetries in Pick and Place

    Haojie Huang, Dian Wang, Arsh Tangri, Robin Walters†, Robert Platt†

    The International Journal of Robotics Research. 2024

    PDFCode
22. 

    A General Theory of Correct, Incorrect, and Extrinsic Equivariance

    Dian Wang, Xupeng Zhu, Jung Yeon Park, Mingxi Jia, Guanang Su, Robert Platt, Robin Walters

    NeurIPS 2023

    PDFTalkCode
23. 

    Equivariant Reinforcement Learning under Partial Observability

    Hai Huu Nguyen, Andrea Baisero, David Klee, Dian Wang, Robert Platt, Christopher Amato

    CoRL 2023

    ProjectPDFCode
24. 

    On Robot Grasp Learning Using Equivariant Models

    Xupeng Zhu, Dian Wang, Guanang Su, Ondrej Biza, Robin Walters, Robert Platt

    Autonomous Robots. 2023

    ProjectPDFCode
25. 

    The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry

    Dian Wang, Jung Yeon Park, Neel Sortur, Lawson L.S. Wong, Robin Walters†, Robert Platt†

    ICLR 2023, Spotlight

    ProjectPDFOpenReviewVideoTalkCode
26. 

    SEIL: Simulation-augmented Equivariant Imitation Learning

    Mingxi Jia*, Dian Wang*, Guanang Su, David Klee, Xupeng Zhu, Robin Walters, Robert Platt

    ICRA 2023

    ProjectPDFVideo
27. 

    Edge Grasp Network: Graph-Based SE(3)-invariant Approach to Grasp Detection

    Haojie Huang, Dian Wang, Xupeng Zhu, Robin Walters, Robert Platt

    ICRA 2023

    ProjectPDFCode
28. 

    On-Robot Learning With Equivariant Models

    Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt

    CoRL 2022

    ProjectPDFOpenReviewVideoCode
29. 

    Leveraging Fully Observable Policies for Learning under Partial Observability

    Hai Huu Nguyen, Andrea Baisero, Dian Wang, Christopher Amato, Robert Platt

    CoRL 2022

    ProjectPDFOpenReviewVideoCode
30. 

    BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework

    Dian Wang*, Colin Kohler*, Xupeng Zhu, Mingxi Jia, Robert Platt

    ISRR 2022

    PDFCode
31. 

    Equivariant Transporter Network

    Haojie Huang, Dian Wang, Robin Walters, Robert Platt

    RSS 2022

    ICRA 2022 Workshop on Scaling Robot Learning, Best Paper Award Finalist

    ProjectPDFCode
32. 

    Sample Efficient Grasp Learning Using Equivariant Models

    Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters, Robert Platt

    RSS 2022

    ProjectPDFVideoCode
33. 

    SO(2)-Equivariant Reinforcement Learning

    Dian Wang, Robin Walters, Robert Platt

    ICLR 2022, Spotlight

    ProjectPDFOpenReviewVideoTalkCode
34. 

    Equivariant Q Learning in Spatial Action Spaces

    Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt

    CoRL 2021

    ProjectPDFOpenReviewPosterVideoCode
35. 

    Design Guidelines for Human-Robot Interaction with Assistive Robot Manipulation Systems

    Alexander Wilkinson, Michael Gonzales, Patrick Hoey, David Kontak, Dian Wang, Noah Torname, Amelia Sinclaire, Zhao Han, Jordan Allspaw, Robert Platt, Holly Yanco

    Paladyn, Journal of Behavioral Robotics. 2021

    Paper
36. 

    Action Priors for Large Action Spaces in Robotics

    Ondrej Biza, Dian Wang, Robert Platt, Jan-Willem van de Meent, Lawson LS Wong

    AAMAS 2021

    PDFCode
37. 

    Policy learning in SE (3) action spaces

    Dian Wang, Colin Kohler, Robert Platt

    CoRL 2020

    ProjectPDFVideoTalkCode
38. 

    Towards Assistive Robotic Pick and Place in Open World Environments

    Dian Wang, Colin Kohler, Andreas ten Pas, Alexander Wilkinson, Maozhi Liu, Holly Yanco, Robert Platt

    ISRR 2019

    ProjectPDFVideo