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Biography

I’m an MS student at CMU RI, working at LeCAR Lab advised by Prof. Guanya Shi.

Previously, I received my B.Eng. from Shanghai Jiao Tong University (SJTU), where I was advised by Prof. Hesheng Wang and Prof. Danping Zou. After that, I worked with Prof. Richard Ren remotely during a summer research. Subsequently, I worked with Prof. Huazhe Xu as a research assistant at Tsinghua University (IIS).

During my undergraduate career, I led the programming group at SJTU VEX Robotics Club.

Education

Carnegie Mellon University Aug. 2024 - Present
Master Student
Major: Robotic Systems Development
Shanghai Jiao Tong University Sep. 2019 - Jun. 2023
Undergraduate Student
Major: Automation

Experience

Graduate Research Assistant Oct. 2024 - Present
Learning and Control for Agile Robotics Lab (LeCAR Lab)
Advisor: Prof. Guanya Shi
Topic: Humanoid & Aerial Manipulation

Full-time Research Assistant Jan. 2024 - Jul. 2024
Tsinghua Embodied AI Lab (TEA Lab)
Advisor: Prof. Huazhe Xu
Topic: Mobile Manipulation

Research Intern (Remote) Summer 2023
Robotics Autonomy and Planning Lab at SJTU
Advisor: Prof. Zhongqiang Ren
Topic: Multi-Agent Path Finding

Undergraduate Research Assistant Jan. 2023 - Jun. 2023
Intelligent Robotics and Machine Vision Lab at SJTU
Advisor: Prof. Hesheng Wang
Topic: Image-Based Visual Servo for Quadrotor


Research

( denotes equal contribution)

  • ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
    Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang , Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi "Jim" Fan, Yuke Zhu, Changliu Liu, Guanya Shi

    ▶ TL;DR
    ASAP learns agile whole-body humanoid motions via learning a residual action model from the real world to align sim-to-real physics and achieve athletic motions.

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  • Multi-Agent Combinatorial Path Finding with Heterogeneous Task Duration

    Yuanhang Zhang, Xuemian Wu, Hesheng Wang, Zhongqiang Ren

    ▶ TL;DR
    Proposed two conflict-based search methods—CBSS-TPG (conflict-free) and CBSS-D (conflict-free and minimal cost) to solve the multi-agent combinatorial path finding problem with target duration.

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  • ViTaS: Visual Tactile Soft Fusion Contrastive Learning for Reinforcement Learning
    Yufeng Tian, Shuiqi Cheng, Tianming Wei, Tianxing Zhou, Yuanhang Zhang, Zixian Liu,
    Zhecheng Yuan, Huazhe Xu

    • arXiv 2024

    ▶ TL;DR
    Introduced ViTaS, a framework using using Soft Fusion Contrastive Learning and a CVAE module to fuse visual and tactile information, achieving state-of-the-art performance with high sample efficiency and low parameter count in robotic manipulation.

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  • Perception-constrained Visual Servoing Based NMPC for Quadrotor Flight

    ▶ TL;DR
    Incorporated quadrotor dynamics and visual feature dynamics into NMPC to enable the quadrotor to flight purely based on visual information without localization.

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Competitions

UAV Intelligent Perception Technology Competition
National Third Prize (10%)
Shanghai, China
2022.09-2022.11
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National University IOT Design Competition
National First Prize & Harmony Innovation Award (1%)
Shanghai, China
2022.06-2022.09
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National University ICT Competition (Innovation)
National Second Prize (5%)
Shanghai, China
2021.09-2022.01
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Leadership

SJTU-VEX
Programming Team Leader
Shanghai, China
2020.03-2022.07
  • Links: [SJTU VEX Change Up Season Reveal 2021]

  • 2021 National VEX Robotics Competition: Tournament Champions & Skills Champion (World Record)

  • 2021 VEX Robotics Competition Asian Open: Tournament Champions VEXU; Excellence Award

  • 2021 VEX Robotics Competition China Final: Tournament Champions VEXU; Excellence Award

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Awards

Outstanding Paper Nomination in LFDM Workshop at CoRL 2024

SJTU Outstanding Graduate (top 3%)

SJTU Merit Student (top 3%)

SJTU Academic Progress Scholarship


Service

  • Reviewer: ICRA 2025