Sun, Yifan

RI PhD (Fall 2024)


Projects


Publications

2025

    1. [C94] Learn With Imagination: Safe Set Guided State-wise Constrained Policy Optimization
      Feihan Li, Yifan Sun, Weiye Zhao, Rui Chen, Tianhao Wei and Changliu Liu
      Learning for Dynamics and Control Conference, 2025
    2. [C95] Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
      Feihan Li, Abulikemu Abuduweili, Yifan Sun, Rui Chen, Weiye Zhao and Changliu Liu
      Learning for Dynamics and Control Conference, 2025
    1. [W] Calibrating AI Trust in Complementary Human-AI Collaboration
      Hanjiang Hu, Yifan Sun and Changliu Liu
      ICRA 2025 Workshop on Workshop on Public Trust in Autonomous Systems, 2025
          1. [U] SPARK: A Modular Benchmark for Humanoid Robot Safety
            Yifan Sun, Rui Chen, Kai S Yun, Yikuan Fang, Sebin Jung, Feihan Li, Bowei Li, Weiye Zhao and Changliu Liu
            arXiv preprint arXiv:2502.03132, 2025
          2. [U] Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm
            Rui Chen, Yifan Sun and Changliu Liu
            arXiv preprint arXiv:2502.02858, 2025

          2024

          1. [J23] Guard: A safe reinforcement learning benchmark
            Weiye Zhao, Rui Chen, Yifan Sun, Ruixuan Liu, Tianhao Wei and Changliu Liu
            Transactions on Machine Learning Research, 2024
          2. [J24] State-wise Constrained Policy Optimization
            Weiye Zhao, Rui Chen, Yifan Sun, Tianhao Wei and Changliu Liu
            Transactions on Machine Learning Research, 2024
          1. [C69] Hybrid Task Constrained Incremental Planner for Robot Manipulators in Confined Environments
            Yifan Sun, Weiye Zhao and Changliu Liu
            American Control Conference, 2024
          2. [C76] A Lightweight and Transferable Design for Robust LEGO Manipulation
            Ruixuan Liu, Yifan Sun and Changliu Liu
            International Symposium of Flexible Automation, 2024
          3. [C77] Absolute Policy Optimization: Enhancing Lower Probability Bound of Performance with High Confidence
            Weiye Zhao, Feihan Li, Yifan Sun, Rui Chen, Tianhao Wei and Changliu Liu
            International Conference on Machine Learning, 2024
                  1. [U] Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction
                    Weiye Zhao, Feihan Li, Yifan Sun, Yujie Wang, Rui Chen, Tianhao Wei and Changliu Liu
                    arXiv:2410.01212, 2024

                  2023

                      1. [W] Robotic LEGO Assembly and Disassembly from Human Demonstration
                        Ruixuan Liu, Yifan Sun and Changliu Liu
                        ACC Workshop on Recent Advancement of Human Autonomy Interaction and Integration, 2023

                              2022

                                1. [C44] Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots
                                  Ruixuan Liu, Rui Chen, Yifan Sun, Yu Zhao and Changliu Liu
                                  IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022