Xinghao Zhu

Hi there! I'm a research scientist and a roboticist at the Robotics and AI Institute (formerly Boston Dynamics AI Institute). I earned my Ph.D. from the University of California, Berkeley, where I was advised by Prof. Masayoshi Tomizuka, a distinguished member of the National Academy of Engineering. Earlier, I received my Bachelor's degree from the Honors Youth Program at Xi'an Jiaotong University.

Email: xizhu [at] theaiinstitute [dot] com

News

Publications

Adaptive energy regularization for autonomous gait transition and energy-efficient quadruped locomotion

Xinghao Zhu, Boyuan Liang, Lingfeng Sun, Bike Zhang, Ziyin Xiong, Yixiao Wang, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka
ICRA 2025  •  Webpage  •  Paper

Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation

Xuanlin Li, Tong Zhao, Xinghao Zhu, Jiuguang Wang, Tao Pang, Kuan Fang
Under review
Webpage  •  Paper

ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis

Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding
Under review
Webpage  •  Paper

Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation

Yongpeng Jiang, Mingrui Yu, Xinghao Zhu, Masayoshi Tomizuka, Xiang Li
IROS 2024
Paper

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

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration
ICRA 2024   •   Best Paper Award
Webpage  •  Paper  •  Code  •  Dataset  •  Blogpost

Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection

Xinghao Zhu, Devesh K. Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian
ICRA 2024
Paper

LLM-POP: Large Language Model for Partially Observable Task Planning

Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres
Instruction Workshop, NeurIPS 2023   •   Honorable Mention
ICRA 2024
Paper

Human-oriented Representation Learning for Robotic Manipulation

Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu, Yao Mu, Lingfeng Sun, Masayoshi Tomizuka, Wei Zhan
RSS 2024
Webpage  •  Dataset  •  Paper

Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering

Xinghao Zhu, Jinghan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai, Jun Lv, Qingtao Liu, Yuwei Zeng, Qi Ye, Cewu Lu, Masayoshi Tomizuka, Lin Shao
CoRL 2023   •   Oral Presentation
Webpage  •  Paper

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
CoRL 2023
Webpage  •  Paper

Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling

Wu-Te Yang, Burak Kürkçü, Motohiro Hirao, Lingfeng Sun, Xinghao Zhu, Zhizhou Zhang, Grace X. Gu, Masayoshi Tomizuka
ROBIO 2023
Paper

Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces

Xinghao Zhu, Wenzhao Lian, Bodi Yuan, C. Daniel Freeman, Masayoshi Tomizuka
ICRA 2023
Video  •  Code  •  Paper

Learn to Grasp with Less Supervision: A Data-Efficient Maximum Likelihood Grasp Sampling Loss

Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen, Masayoshi Tomizuka
ICRA 2022
Video  •  Paper

Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints

Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, Jeroen Van Baar
ICRA 2022
Paper

BPOMP: A Bilevel Path Optimization Formulation for Motion Planning

Changhao Wang, Hsien-Chung Lin, Shiyu Jin, Xinghao Zhu, Liting Sun, Masayoshi Tomizuka
American Control Conference (ACC) 2022
Webpage  •  Paper

Learning Insertion Primitives with Hybrid Action Space for Robotic Assembly Tasks

Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, Masayoshi Tomizuka
ICRA 2022
Webpage  •  Paper

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

Changhao Wang, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang, Masayoshi Tomizuka
RAL 2022
Paper

6-DoF Contrastive Grasp Proposal Network

Xinghao Zhu, Lingfeng Sun, Yongxiang Fan, Masayoshi Tomizuka
ICRA 2021
Video  •  Paper

Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties

Shiyu Jin, Xinghao Zhu, Changhao Wang, Masayoshi Tomizuka
ACC 2021
Paper

Optimization Model for Planning Precision Grasps with Multi-Fingered Hands

Yongxiang Fan, Xinghao Zhu, Masayoshi Tomizuka
IROS 2019
Webpage  •  Paper

Academic Service

Teaching