Easop Lee

PhD student · General Robotics Lab, Duke

Hi! I'm a PhD student in the General Robotics Lab at Duke University, advised by Boyuan Chen. I work on data-efficient robot learning, dynamics modeling, and modular structure for adaptive control. I’m excited about expanding what’s possible in control through data-efficient learning, and about bringing that to the real world: test-time adaptation, learning from real data, and doing it in a system that connects perception, decision-making, and control. I also received my BSE from Duke.

Adaptation Dynamics & control

I'd love to connect—feel free to reach out here.

News

Sep 2025 — Presented our work, Sym2Real, at the DARPA PI meeting at UMD.
Oct 2023 — Awarded ECE Travel Fellowship to present at CoRL 2023.
Aug 2023 — Started my PhD at Duke University.

Research

Papers and preprints, most recent first.

Learning Legged MPC with Smooth Neural Surrogates
Samuel A. Moore, Easop Lee, Boyuan Chen. (Preprint 2026)

Website · Video · arXiv · Code
Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
Easop Lee, Samuel A. Moore, Boyuan Chen. (Preprint 2025)

Website · Video · arXiv · Code
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
Pingcheng Jian, Easop Lee, Zachery Bell, Michael M. Zavlanos, Boyuan Chen. (TMLR 2024)

Website · Video · arXiv · Code
Policy Stitching: Learning Transferable Robot Policies
Pingcheng Jian, Easop Lee, Zachery Bell, Michael M. Zavlanos, Boyuan Chen. (CoRL 2023)

Website · Video · arXiv · Code

Teaching

Duke University

Graduate Teaching Assistant

ECE 661: Computer Engineering Machine Learning and Deep Neural Nets (Spring 2025)
ME 555 / ECE 590: Robot Learning (Fall 2025)

Undergraduate Teaching Assistant

EGR103L: Computational Methods in Engineering (Spring 2022)
EGR224L: Electrical Fundamentals of Mechatronics (Spring 2023)
ECE270L: Fields and Waves (Fall 2022)
MATH111L: Laboratory Calculus I (Spring 2022, Fall 2022)