Yifeng Cao (曹逸峰)

Yifeng Cao (曹逸峰)

he/his

Columbia University

Sitemap

A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Pages

Posts

Future Blog Post

less than 1 minute read

Published:

This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.

Blog Post number 4

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 3

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 2

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

Blog Post number 1

less than 1 minute read

Published:

This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.

portfolio

publications

AnySkin: Plug-and-play Skin Sensing for Robotic Touch

Published in Sep 27, 2024

While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of tactile sensing – versatility, replaceability, and data reusability.

Recommended citation: Bhirangi, Raunaq, Venkatesh Pattabiraman, Enes Erciyes, Yifeng Cao, Tess Hellebrekers, and Lerrel Pinto. "AnySkin: Plug-and-play Skin Sensing for Robotic Touch." arXiv preprint arXiv:2409.08276 (2024).
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Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins

Published in Oct 22, 2024

ViSk builds on BAKU, a SOTA policy architecture, and AnySkin – a magnetic tactile sensor. We present comprehensive evaluations on four tasks requiring mm-scale precision: Plug insertion, USB insertion, Card swiping, and Book retrieval, and see an average improvement of ~27.5% when using ViSk over vision-only policies across the four tasks. Additionally, the most exciting part of ViSk is the extent of generalizability of learned policies; it can also perform really well in both unseen spatial configurations of the environment as well as unseen variants of the grasped objects.

Recommended citation: Pattabiraman, Venkatesh, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, and Raunaq Bhirangi. "Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins." arXiv preprint arXiv:2410.17246 (2024).
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Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models

Published in Feb 26, 2025

We leverage the generative process of diffusion policies to compute an uncertainty-based metric based on which the autonomous agent can decide to request operator assistance at deployment time, without requiring any operator interaction during training. Additionally, we show that the same method can be used for efficient data collection for fine-tuning diffusion policies in order to improve their autonomous performance.

Recommended citation: He, Zhanpeng, Yifeng Cao, and Matei Ciocarlie. "Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models." arXiv preprint arXiv:2503.01876 (2025).
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talks

teaching

Teaching experience 1

Undergraduate course, University 1, Department, 2014

This is a description of a teaching experience. You can use markdown like any other post.

Teaching experience 2

Workshop, University 1, Department, 2015

This is a description of a teaching experience. You can use markdown like any other post.