EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-Rich Tasks

Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Xiang Zhang, Seoyeon Choi, Jongeun Choi, Roberto Horowitz

Under Review

[Paper] [Website]

DexCtrl: Sim-to-Real Dexterity with Adaptive Controller Learning

Shuqi Zhao, Ke Yang, Yuxin Chen, Chenran Li, Yichen Xie, Xiang Zhang, Changhao Wang, Masayoshi Tomizuka

ICRA 2026

[Paper]

Autonomous Robotic Assembly of a Skateboard Truck

Yotto Koga, Hui Li, Xiang Zhang, Yunsheng Tian, Adam Arnold, James Emerick, Nic Carey, Srinidhi Srinivas, Nick Cote, Michael Koehle, Stefanie Pender, Noa Kaplan, Annabella Macaluso, Gadiel Sznaier Camps, Ozguc Capunaman, Gabrielle Patin, Hans Kellner, Sachin Chitta

Autodesk Research Demo

[Project] [Video]

Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task

Xiang Zhang, Hsien-Chung Lin, Yu Zhao, Masayoshi Tomizuka

IROS 2024, Best Paper in Industrial Robotics Research for Application

[Paper] [Video]

In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing

Mingrui Yu, Boyuan Liang, Xiang Zhang, Xinghao Zhu, Lingfeng Sun, Changhao Wang, Shiji Song, Xiang Li, Masayoshi Tomizuka

IROS 2024

[Paper] [Website] [Code]

Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion

Xiang Zhang, Masayoshi Tomizuka, Hui Li

ICRA 2024

[Paper] [Website]

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

Conference on Robot Learning (CoRL) 2023

[Paper] [Website]

Contact-rich SE (3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control

Joohwan Seo, Nikhil PS Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz

IEEE Robotics and Automation Letters (RAL) 2023

[Paper] [Website] [Code]

Learning Generalizable Pivoting Skills

Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, Diego Romeres

ICRA 2023

[Paper]

Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Simulation

Yuqi Xiang, Feitong Chen, Qinsi Wang, Gang Yang, Xiang Zhang, Xinghao Zhu, Xingyu Liu, Lin Shao

Under Review

[Paper] [Website]

Safe online gain optimization for Cartesian space variable impedance control

Changhao Wang*, Xiang Zhang*, Zhian Kuang*, Masayoshi Tomizuka

CASE 2022

[Paper] [Website]

Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks

Changhao Wang, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang, Masayoshi Tomizuka

IEEE Robotics and Automation Letters (RA-L) 2022

[Paper] [Website] [Code]

Learning Insertion Primitives with Hybrid Action Space for Robotic Assembly Tasks

Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, Masayoshi Tomizuka

ICRA 2022

[Paper] [Website]

Online learning of unknown dynamics for model-based controllers in legged locomotion

Yu Sun, Wyatt L Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel V Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D Ames

IEEE Robotics and Automation Letters (RA-L) 2021

[Paper] [Video]

Learning variable impedance control via inverse reinforcement learning for force-related tasks

Xiang Zhang, Liting Sun, Zhian Kuang, Masayoshi Tomizuka

IEEE Robotics and Automation Letters (RA-L) 2021

[Paper] [Website]