| 2026 | ACL | Token-Level Policy Optimization: Linking Group-Level Rewards to Token-Level Aggregation via sequence-level likelihood. | Xingyu Lin, Yilin Wen, Du Su, En Wang, Wenbin Liu, Zhonghou Lv, Jinchang Hou, Chenfu Bao |
| 2025 | IJCAI | Indirect Online Preference Optimization via Reinforcement Learning. | En Wang, Xingyu Lin, Du Su, Chenfu Bao, Zhonghou Lv, Funing Yang, Yuanbo Xu, Wenbin Liu |
| 2024 | ICRA | SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Network. | Xingyu Lin, John So, Sashwat Mahalingam, Fangchen Liu, Pieter Abbeel |
| 2024 | IROS | Learning Generalizable Tool-use Skills through Trajectory Generation. | Carl Qi, Yilin Wu, Lifan Yu, Haoyue Liu, Bowen Jiang, Xingyu Lin, David Held |
| 2024 | IROS | GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators. | Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, Pieter Abbeel |
| 2023 | ICRA | Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking. | Zixuan Huang, Xingyu Lin, David Held |
| 2022 | CoRL | Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation. | Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held |
| 2022 | ICLR | DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools. | Xingyu Lin, Zhiao Huang, Yunzhu Li, Joshua B. Tenenbaum, David Held, Chuang Gan |
| 2022 | ICRA | Self-supervised Transparent Liquid Segmentation for Robotic Pouring. | Gautham Narayan Narasimhan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held |
| 2021 | CoRL | Learning Visible Connectivity Dynamics for Cloth Smoothing. | Xingyu Lin, Yufei Wang, Zixuan Huang, David Held |
| 2020 | CoRL | SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation. | Xingyu Lin, Yufei Wang, Jake Olkin, David Held |
| 2020 | CoRL | ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning. | Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held |
| 2019 | ICRA | Adaptive Variance for Changing Sparse-Reward Environments. | Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held |
| 2017 | ICLR | Transfer of View-manifold Learning to Similarity Perception of Novel Objects. | Xingyu Lin, Hao Wang, Zhihao Li, Yimeng Zhang, Alan L. Yuille, Tai Sing Lee |