Lingfeng Sun

    

I am a Research Scientist at Boston Dynamics AI Institute. I received my PhD in robotics from University of California, Berkeley, advised by Prof. Masayoshi Tomizuka. I finished my undergraduate study at University of Michigan and Shanghai Jiao Tong University.

Previously, I worked as a Research Intern at MERL, Everyday Robots (Google X), and Horizon Robotics.

I do research in Robotics (skill learning, control and planning) and Autonomous driving (interaction generation, prediction).

Publications

Real-is-Sim
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin

Jad Abou-Chakra, Lingfeng Sun, Krishan Rana, Brandon May, Karl Schmeckpeper, Maria Vittoria Mnniti, Laura Herlant
arXiv preprint
[Website]  •  [Paper]

Goal-Contrastive Rewards
On-Robot Reinforcement Learning with Goal-Contrastive Rewards

Ondrej Biza, Thomas Weng, Lingfeng Sun, Karl Schmeckpeper, Tarik Kelestemur, Yecheng Jason Ma, Robert Platt, Jan-Willem van de Meent, Lawson L. S. Wong
ICRA 2025
[Paper]

Efficient Locomotion
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion

Lingfeng Sun*, Boyuan Liang*, Xinghao Zhu*, Bike Zhang, Koushil Sreenath, Masayoshi Tomizuka
ICRA 2025
[Website]  •  [Paper]

LLM-POP
LLM-POP: Large Language Model for Partially Observable Task Planning

Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres
ICRA 2024
Honorable Mention, Workshop on Instruction Tuning and Instruction Following, NeurIPS 2023
[Paper]

AdmitLearn
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

Xiang Zhang*, Changhao Wang*, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka
CoRL 2023
[Website]  •  [Paper]

PaCo
PaCo: Parameter-Compositional Multi-Task Reinforcement Learning

Lingfeng Sun*, Haichao Zhang*, Wei Xu, Masayoshi Tomizuka
NeurIPS 2022
[Website]  •  [Paper]  •  [Code]

Efficient Multi-Task
Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework

Lingfeng Sun*, Haichao Zhang*, Wei Xu, Masayoshi Tomizuka
ICRA 2024, Robotics and Automation Letters
[Paper]

Multi-level Reasoning
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection

Xinghao Zhu, Devesh K. Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian
ICRA 2024
[Paper]

Imagined Potential Games
Imagined Potential Games: A Framework for Simulating, Learning and Evaluating Interactive Behaviors

Lingfeng Sun, Yixiao Wang, Pin-Yun Hung, Changhao Wang, Xiang Zhang, Zhuo Xu, Masayoshi Tomizuka
arXiv preprint
[Website]  •  [Paper]

Distributed Multi-agent
Distributed Multi-agent Interaction Generation with Imagined Potential Games

Lingfeng Sun, Pin-Yun Hung, Changhao Wang, Masayoshi Tomizuka, Zhuo Xu
ACC 2024
[Website]  •  [Paper]

RouteGAN
Diverse Critical Interaction Generation for Planning and Planner Evaluation

Lingfeng Sun*, Zhao-Heng Yin*, Liting Sun, Masayoshi Tomizuka, Wei Zhan
IROS 2021
[Paper]

Optimizing Diffusion Models
Optimizing Diffusion Models for Joint Trajectory Prediction and Controllable Generation

Yixiao Wang, Chen Tang, Lingfeng Sun, Simone Rossi, Yichen Xie, Chensheng Peng, Thomas Hannagan, Stefano Sabatini, Nicola Poerio, Masayoshi Tomizuka, Wei Zhan
ECCV 2024
[Website]  •  [Paper]

Domain knowledge
Domain knowledge driven pseudo labels for interpretable goal-conditioned interactive trajectory prediction

Lingfeng Sun*, Chen Tang*, Yaru Niu, Enna Sachdeva, Chiho Choi, Teruhisa Misu, Masayoshi Tomizuka, Wei Zhan
IROS 2022
[Paper]

Pretram
Pretram: Self-supervised pre-training via connecting trajectory and map

Chenfeng Xu, Tian Li, Chen Tang, Lingfeng Sun, Kurt Keutzer, Masayoshi Tomizuka, Alireza Fathi, Wei Zhan
ECCV 2022
[Paper]

Interactive prediction
Interactive prediction for multiple, heterogeneous traffic participants with multi-agent hybrid dynamic bayesian network

Lingfeng Sun, Wei Zhan, Di Wang, Masayoshi Tomizuka
ITSC 2019
[Paper]

6-dof contrastive grasp
6-dof contrastive grasp proposal network

Lingfeng Sun*, Xinghao Zhu*, Yongxiang Fan, Masayoshi Tomizuka
ICRA 2021
[Paper]

Learn to grasp
Learn to grasp with less supervision: A data-efficient maximum likelihood grasp sampling loss

Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen, Masayoshi Tomizuka
ICRA 2022
[Paper]

Task-Oriented Picking
A Simple Approach for General Task-Oriented Picking using Placing constraints

Lingfeng Sun*, Jen-Wei Wang*, Xinghao Zhu, Qiyang Qian, Masayoshi Tomizuka
Tech Report
[Paper]

Teaching