Haoru Xue (@HaoruXue) / X

Haoru Xue

321 posts

Haoru Xue

@HaoruXue

PhD @berkeley_ai | prev. intern @nvidia GEAR, @CMU_Robotics, @LeCARLab | Robot Learning, Humanoids

San Francisco Bay Area

Joined December 2023

Pinned
Haoru Xue
@HaoruXue
Dec 2, 2025
Reality of robotics: humanoid kung fu is solved before they can open doors with RGB. Here we are. Introducing the frontier of sim2real at NVIDIA GEAR. 100% sim data. RGB input only. Code name: 𝗗𝗼𝗼𝗿𝗠𝗮𝗻. We are opening the sim-to-real door. doorman-humanoid.github.io 🧵
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Haoru Xue
@HaoruXue
Sep 25, 2024
🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵 lecar-lab.github.io/dial-mpc/
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Haoru Xue
@HaoruXue
Jun 23, 2025
🚀 Introducing LeVERB, the first 𝗹𝗮𝘁𝗲𝗻𝘁 𝘄𝗵𝗼𝗹𝗲-𝗯𝗼𝗱𝘆 𝗵𝘂𝗺𝗮𝗻𝗼𝗶𝗱 𝗩𝗟𝗔 (upper- & lower-body), trained on sim data and zero-shot deployed. Addressing interactive tasks: navigation, sitting, locomotion with verbal instruction. 🧵 ember-lab-berkeley.github.io/LeVERB-Website/
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Haoru Xue
@HaoruXue
May 19, 2025
🏆 𝗕𝗲𝘀𝘁 𝗣𝗮𝗽𝗲𝗿 𝗙𝗶𝗻𝗮𝗹𝗶𝘀𝘁 for DIAL-MPC at #ICRA2025! Catch us at the award session: Wednesday 8:30am Room 302 We’ve also released a new demo: ball-spinning on finger tip. Enjoy 👉 github.com/LeCAR-Lab/dial…
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Haoru Xue
@HaoruXue
Sep 25, 2024
🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵 lecar-lab.github.io/dial-mpc/
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Haoru Xue
@HaoruXue
Sep 25, 2024
🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵 lecar-lab.github.io/dial-mpc/
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Haoru Xue
@HaoruXue
May 28, 2025
Career Update: I’m interning at NVIDIA GEAR Lab supervised by @DrJimFan and @yukez. Looking forward to frontier robot learning research with the magnificent team!
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Haoru Xue
@HaoruXue
Nov 6, 2024
(1/n) 🚨 Update on DIAL-MPC (Nov 2024): - 🎉 Sim2Real for Go2 released; - 🎉 Sim2Sim for H1 working - ✈️ Come meet us at #CoRL2024 WCBM workshop 🧵 See details -
Haoru Xue
@HaoruXue
Sep 25, 2024
🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵 lecar-lab.github.io/dial-mpc/
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Haoru Xue
@HaoruXue
Feb 27, 2025
How do I see Figure and 1x demo from a data perspective? My first blog: scaling data collection for robotics foundation model. Teleop is not the end game. I bet on pre-training via 𝙬𝙤𝙧𝙡𝙙 𝙢𝙤𝙙𝙚𝙡 𝙖𝙣𝙙 𝙜𝙚𝙣𝙚𝙧𝙖𝙩𝙞𝙫𝙚 𝙨𝙞𝙢. Here is why: haoruxue.github.io/data-scaling-l…
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Haoru Xue
@HaoruXue
Jan 2, 2025
2024 was amazing & 2025: Learning to head down for impactful research 🤖 in a new place 🌁 with my gf-tenured fiancée 💕
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Haoru Xue
@HaoruXue
Feb 24, 2025
🔥 Representation matters! Especially when it comes to what you pass down from system 2 to system 1. 🧠 In this work we show that vision + 3D + temporal representation yields better results than previous VLAs. 🤖 And we all know what's the next step - humanoids.
Roei Herzig
@roeiherzig
Feb 24, 2025
What happens when vision🤝 robotics meet? Happy to share our new work on Pretraining Robotic Foundational Models!🔥 ARM4R is an Autoregressive Robotic Model that leverages low-level 4D Representations learned from human video data to yield a better robotic model. @berkeley_ai😊
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Haoru Xue
@HaoruXue
Jan 17, 2025
Nice to see the MJX counterpart of Isaac Lab / Gym finally coming around. Isaac has had a lot of successful story of Sim2Real, and no reason why MJX shouldn't, while being more light-weight to use and easier to access low-level sim states.
Kevin Zakka
@kevin_zakka
Jan 16, 2025
The ultimate test of any physics simulator is its ability to deliver real-world results. With MuJoCo Playground, we’ve combined the very best: MuJoCo’s rich and thriving ecosystem, massively parallel GPU-accelerated simulation, and real-world results across a diverse range of
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Haoru Xue
@HaoruXue
Sep 25, 2024
Replying to @HaoruXue
1/9 We surprisingly found that the formulation of sampling-based MPC and single diffusion step are 𝗲𝗾𝘂𝗶𝘃𝗮𝗹𝗲𝗻𝘁. This motivates us to do multi-step diffusion in MPC. (theoretical proofs in paper) 𝗥𝗲𝗮𝗹-𝘁𝗶𝗺𝗲 sampling is possible! We did it thanks to recent
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Haoru Xue
@HaoruXue
Jun 16, 2025
At @ycombinator AI Startup School Today 🤗 Excited for meetups
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Haoru Xue
@HaoruXue
Jul 5, 2024
Had a wonderful week traveling in China with @benjamin_bolte ! We dropped in on lots of robotics startups. 🤖 Amazing to see humanoid hardware development is in full swing!
Benjamin Bolte
@benjamin_bolte
Jul 5, 2024
Back in the US after a very fun and informative few weeks in China with @HaoruXue. Met some brilliant people and learned a lot, much of which will be directly relevant to our direction at @kscalelabs, so stay tuned 😀 For now, some photos...
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