I’m a fifth-year Ph.D. student in Robotics at the University of California, Berkeley. I work with Prof. Masayoshi Tomizuka in the Mechanical Systems Control (MSC) Laboratory.
My research interest lies in the interdisciplinary combination of robotics, artificial intelligence (AI), and control theories with applications to robot contact-rich manipulation, robot skill learning, and learning for control.
News
- Oct 2024: our paper “Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task,” is awarded Best Paper in Industrial Robotics Research for Application at IROS 2024
- Jan 2024: Our paper “Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion” (website) is accepted by ICRA 2024.
- Aug 2023: Our paper “Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning” (website) is accepted by CoRL 2023.
- Aug 2023: I am selected for DSCD Rising Stars Invited Talks at MECC 2023
- May 2023: I start my Robot learning research internship at the Autodesk Research.
- Jan 2023: Paper “Learning Generalizable Pivoting Skills” is accepted to ICRA 2023.
- May 2022: I start my research intern at the Mitsubishi Electric Research Laboratories (MERL).
- May 2022: Our paper “Safe Online Gain Optimization for Cartesian Space Variable Impedance Control” is accepted by CASE 2022.
- Feb 2022: Our paper “Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks” is accepted by ICRA 2022.
Research
Learning Generalizable Pivoting Skills
Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, Diego Romeres
ICRA 2023
[Paper]
