Publications

Owen Lewis Howell, Linfeng Zhao, Xupeng Zhu, Yaoyao Qian, Haojie Huang, Lingfeng Sun, Wil Thomason, Robert Platt, Robin Walters (2025). Clebsch‑Gordan Transformers: Fast and Global Equivariant Attention. In Submission to NeurIPS 2025.

Ziyi Yang, Shreyas Sundara Raman, Benned Hedegaard, Haotian Fu, Linfeng Zhao, Stefanie Tellex, George Konidaris, David Paulius, Naman Shah (2025). SkillWrapper: Autonomously Learning Interpretable Skill Abstractions with Foundation Models. In ICRA 2025 Workshop.

Project Page

Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel J. Szafir (2025). BOSS: Benchmark for Observation Space Shift in Long‑Horizon Task. In RA-L (2025).

PDF Project Page

Shuo Jiang, Boce Hu, Linfeng Zhao, Lawson L.S. Wong (2025). Robot Tactile Gesture Recognition Based on Full‑body Modular E‑skin. In Submission to IROS 2025.

PDF

Linfeng Zhao, Willie McClinton, Aidan Curtis, Nishanth Kumar, Tom Silver, Leslie Kaelbling, Lawson L.S. Wong (2025). Seeing is Believing: Belief-Space Planning with Foundation Models as Uncertainty Estimators. Under Review.

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Haibo Zhao, Dian Wang, Yizhe Zhu, Xupeng Zhu, Owen Lewis Howell, Linfeng Zhao, Yaoyao Qian, Robin Walters, Robert Platt (2025). Hierarchical Equivariant Policy via Frame Transfer. In ICML 2025.

PDF ICML 2025 Poster OpenReview

Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt (2024). ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter. In CoRL 2024.

PDF Project Video

Mingxi Jia, Haojie Huang, Zhewen Zhang, Chenghao Wang, Linfeng Zhao, Dian Wang, Jason Xinyu Liu, Robin Walters, Robert Platt, Stefanie Tellex (2024). Learning Efficient and Robust Language‑conditioned Manipulation using Textual‑Visual Relevancy and Equivariant Language Mapping. In RA-L (2025).

PDF Project Page

Linfeng Zhao, Owen Howell, Xupeng Zhu, Jung Yeon Park, Zhewen Zhang, Robin Walters, Lawson L.S. Wong (2024). Equivariant Action Sampling for Reinforcement Learning and Planning. In WAFR 2024.

PDF Poster Slides Program Page (WAFR 2024) arXiv Code (Coming soon)

Linfeng Zhao, Lawson L.S. Wong (2024). Learning to Navigate in Mazes with Novel Layouts Using Abstract Top-down Maps. In RLC 2024.

PDF Poster Slides Program Page (RLC 2024) arXiv Code (Coming soon)

Nishanth Kumar, Tom Silver, Willie McClinton, Linfeng Zhao, Stephen Proul, Tomás Lozano-Pérez, Leslie Kaelbling, Jennifer Barry (2024). Practice Makes Perfect: Planning to Learn Skill Parameter Policies. In RSS 2024.

PDF Code Project Video Press (MIT News)

Neel Sortur, Linfeng Zhao, Robin Walters (2023). Sample Efficient Modeling of Drag Coefficients for Satellites with Symmetry. In Workshop on Symmetry and Geometry in Neural Representations @ NeurIPS 2023.

OpenReview

Haojie Huang, Mingxi Jia, Zhewen Zhang, Ondrej Biza, Linfeng Zhao, Robin Walters, Robert Platt (2023). Language Conditioned Equivariant Grasp. In Conference Submission.

arXiv (coming soon)

Linfeng Zhao, Hongyu Li, Taskin Padir, Huaizu Jiang^, Lawson L.S. Wong (2023). E(2)-Equivariant Graph Planning for Navigation. In RA-L 2024, Present at IROS 2024.

Project Slides arXiv Program (IROS 2024 oral) Code (Coming soon)

Linfeng Zhao, Owen Howell, Jung Yeon Park, Xupeng Zhu, Robin Walters, Lawson L.S. Wong (2023). Can Euclidean Symmetry Help in Reinforcement Learning and Planning?. In TAGML Workshop @ ICML 2023.

Poster arXiv OpenReview Workshop Page (ICML 2023)

Owen Howell, David Klee, Ondrej Biza, Linfeng Zhao, Robin Walters (2023). Equivariant Single View Pose Prediction Via Induced and Restriction Representations. In NeurIPS 2023.

arXiv

Linfeng Zhao, Xupeng Zhu, Lingzhi Kong, Robin Walters, Lawson L.S. Wong (2022). Integrating Symmetry into Differentiable Planning with Steerable Convolutions. In ICLR 2023, RLDM 2022.

PDF Code Poster Slides Webpage ICLR page OpenReview arXiv Slides (HTML)

Linfeng Zhao, Huazhe Xu, Lawson L.S. Wong (2022). Scaling up and Stabilizing Differentiable Planning with Implicit Differentiation. In ICLR 2023.

PDF Code Poster Slides ICLR page OpenReview arXiv Webpage (Available soon)

Linfeng Zhao, Lingzhi Kong, Robin Walters, Lawson L.S. Wong (2022). Toward Compositional Generalization in Object‑Oriented World Modeling. In ICML 2022 (Long Presentation, 2.1%), RLDM 2022.

PDF Code Webpage ICML Page Poster (ICML) Slides (ICML oral) Slides (HTML)

Jung Yeon Park, Ondrej Biza, Linfeng Zhao, Jan-Willem van de Meent, Robin Walters (2022). Learning Symmetric Embeddings for Equivariant World Models. In ICML 2022.

PDF Code ICML Page

Linfeng Zhao, Lawson L.S. Wong (2020). Model-based Navigation in Environments with Novel Layouts Using Abstract 2-D Maps. In Deep RL workshop @ NeurIPS 2020.

PDF Poster Slides Video

Fan Xie, Alexander Chowdhury, M. Clara De Paolis Kaluza, Linfeng Zhao, Lawson L.S. Wong, Rose Yu (2020). Deep Imitation Learning for Bimanual Robotic Manipulation. In NeurIPS 2020.

PDF Poster NeurIPS Page

Linfeng Zhao, Ziyan Luo, Wei Cheng, Sihao Chen, Qi Chen, Hui Xue, Haidong Wang, Chuanjie Liu, Mao Yang, Lintao Zhang (2020). Match Plan Generation in Web Search with Parameterized Action Reinforcement Learning. In WWW 2021.

PDF Video Source Document

Linfeng Zhao, Hao Su (2019). InterFact: Towards Interactive Factorization of Actionable Entities. In preparation.