
AI & Robotics @GoogleDeepMind | Doctoral fellow @ETH_AI_Center | Prev. @MIT, @ETH_en, @MPI_IS.
Zurich, Switzerland
Joined December 2014
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I decided to review and explicitly post about the limitations of all my previous papers because I believe this is the fundamental driving force behind research, especially in this era of PRs and bubbles.
The motivation of doing model-based RL is model-free methods are boring.
While efficiency can be improved, to me, the largest benefit of MBRL still lies in modeling dynamics that can’t be simulated and thus enabling control.
We welcome more researchers to join this field.
We found a way to scale humanoid control that reduces GPU-hours by more than 1000×.
Across 129,514 motions, SuperMimic surpasses the state of the art (128 GPUs, 7 days) with 1 GPU in 3 hours.
Project: supermimic.github.io
Demo: supermimic.github.io/demo/
It’s surprising the world model gradient could actually be useful in training policies in imagination, which is opposite to the conclusion drawn from RWM, where such gradients are “sharp” when contact changes. Any insights @qiayuanliao?
And great work as always! Congrats!
We found a way to scale humanoid control that reduces GPU-hours by more than 1000×.
Across 129,514 motions, SuperMimic surpasses the state of the art (128 GPUs, 7 days) with 1 GPU in 3 hours.
Project: supermimic.github.io
Demo: supermimic.github.io/demo/
Chenhao Li retweeted
Excited to share that our paper «Tactile Curiosity Drives Robot Interaction» has been accepted to #Corl2026!
We study how tactile feedback can help robots explore more efficiently. Great collaboration between @CSatETH @berkeley_ai @ETH_AI_Center
Website: kiten.me/projects/tacex
15 Robotics Research Voices on X
@chris_j_paxton
= Honest takes on every humanoid demo, from AI at Agility.
@KarlPertsch
= Robot datasets and open VLAs, from DROID to OpenVLA.
@kevin_zakka
= The sim tooling behind MuJoCo Menagerie and mjlab.
@chichengcc
= Diffusion Policy and UMI, from the person who built them.
@hausman_k
= Robot foundation models, from RT-2 to Physical Intelligence.
@ankurhandos
= Dexterous robot hands, straight from NVIDIA research.
@du_yilun
= Video generation models used as robot planners.
@AjayMandlekar
= A few human demos turned into thousands in simulation.
@0x_meden
= Robotics jobs, free courses and open-source robots, broken down.
@xuxin_cheng
= Humanoid teleoperation, from the creator of OpenTeleVision.
@peteflorence
= Scaling robot foundation models at Generalist.
@breadli428
= How legged robots and humanoids learn to move.
@ericjang11
= Long essays on where robot learning is heading.
@IlirAliu_
= The robotics industry for founders, investors and operators.
@TheHumanoidHub
= Every humanoid launch, demo and funding round in one feed.
Make RL inside world models great again!
sites.google.com/view/uncert…
Replying to @Jensen_Yuan
numbers are actually much better now, but agree that RL on world models is super interesting! @breadli428 and all have awesome work on this!
xitter.cf/mateoguaman/status/211…
Chenhao Li retweeted
Gemini 4 Argon taught a robot to play cornhole just by watching a video.
It mapped the physics, coded its own simulation, and taught @Apptronik's Apollo humanoid to sink 7 throws in a row.
Chenhao Li retweeted
In our latest work at @corl_conf, we introduce Quadrupedal World Model: a single morphology-conditioned dynamics model, where policies are trained entirely in imagination.
We found generalization emerges by conditioning the dynamics, not the policy.
🔗modanesh.github.io/papers/qw…
We evaluate zero-shot transfer to unseen morphologies of QWM compared with model-free baselines and morphology-expert policies.
The conclusion:
A robot's morphology should be routed through learned dynamics, not fed straight to a policy.
This work has been accepted to CoRL 2026 @corl_conf and will be presented in Austin, Texas, US!
Kudos to Mohamad Danesh @mo_danesh, who led this work, together with Chenhao Li @breadli428, Amin Abyaneh, Anas Houssaini, Kirsty Ellis, Glen Berseth @GlenBerseth, Marco Hutter, and Hsiu-Chin Lin.
@mcgillu @Mila_Quebec @UMontreal @ETH_en @ETH_AI_Center @leggedrobotics
🌐Does modeling dynamics provide a better path to generalization than learning model-free policies alone?
🐕In QWM @corl_conf, a morphology-conditioned world model learns shared locomotion dynamics and enables zero-shot transfer to unseen morphologies.
🔗modanesh.github.io/papers/qw…
If we formalize robot's morphology specification, a controller for a family of robots can utilize this blueprint in two ways.
1⃣It can feed the specification to a model-free policy, or
2⃣feed it to a learned dynamics model and extract the policy in imagination.
We argue for 2⃣
Chenhao Li retweeted
New NeurIPS paper 🚀! Many safety detectors trained on unsafe data implicitly assume IID generalization. With LLMs being high-dimensional, is there even hope to learn any safety representation structures, without relying on the IID assumption on unsafe behaviors?
We adopt an unsupervised anomaly detection perspective to avoid assuming unsafe data is IID. We show that local sparsity is the key to the feasibility of this approach: Safe data in the local representation space share a small set of active features, even though those features differ across neighborhoods. Using sparse Autoencoders, we exploit this structure to build anomaly detectors fitted on safe data, with experiments across six model families and theoretical support.
It also adapts to cases where unsafe data and benign generalization data are available: With 1% of held-out data used for calibration (no training!), safety detection AUROC reaches 0.96–0.99.
This suggests a big opportunity for the interpretability community. Instead of interpreting the whole high-dimensional representations for safety, one only needs to inspect a small set of features (in our case, ~200 instead of tens of thousands!). If we can further characterize these local patterns, we are one step closer to building trustworthy monitors and control.
arxiv.org/abs/2609.20129
One policy for millions of robots! Kudos to Nico @NicoBohlinger and Bo @BoAi0110 who led this research on multi-embodiment generalist learning!
We’re building a foundation motor control policy 🧠 that can control robots on the ground 🦿and in the air 🚁.
It is trained on millions of embodiment variations 🤖, and we are seeing exciting transfer to unseen robots.
We’ve collected 200+ real-world robot models to shape the embodiment distribution, and trained over billions of cumulative simulation steps.
Now we’re looking for collaborators to contribute robot models, incorporate them into training, and deploy them on real robots. 🧵
Happy to share what folks have been building! Kudos to Nico @NicoBohlinger and Bo @BoAi0110 who led this research on multi-embodiment generalist learning!
Chenhao Li retweeted
⛰️TERRA is a very interesting and impressive work led by Merkourios Simos @amathislab
It substantially expands the terrain diversity we can train and evaluate MuscleMimic controllers on, going beyond flat-ground motion to diverse, non-flat environments reconstructed directly from motion data.
Huge thanks to folks who's work made this possible, @CaggianoVitt and the @MyoSuite team, @CherylWang39256, Bianca Ziliotto, @TrackingPlumes and MuscleMimic team, and the amazing teams at @GoogleDeepMind and @nvidia behind mujoco warp.
Exciting to see how quickly the field is progressing, and especially what this opens up for biomechanics and neuroscience. Please checkout our paper at: arxiv.org/abs/2609.38653
Automatic curriculum became fun in my early research on general human motion tracking in FLD arxiv.org/abs/2402.13820, where one has to learn from a continuously parameterized (infinite) motion dataset.
In this case, it became crucial to determine which motions to learn first.
We achieved high-speed rough-terrain locomotion on ANYmal with an automatic curriculum.
LP-ACRL automatically samples terrain types, levels, and velocity commands at the correct time based on policy performance, without predefining an order.
🔗sites.google.com/view/lp-acr…
🧵RAL 2026





















