zhuxh [at] berkeley [dot] edu

Xinghao Zhu

Hi there! I'm a fifth-year Ph.D. candidate in control and learning at the University of California, Berkeley. I have the privilege of working with Prof. Masayoshi Tomizuka, a distinguished member of National Academy of Engineering. Prior to this, I earned my Bachelor's degree from the Honors Youth Program at Xi'an Jiaotong University. My research focuses on the intersection of robotics, planning, and embodied AI.

Google Scholar   /   GitHub   /   CV

News

Publications

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
Conference on Robot Learning (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
Conference on Robot Learning (CoRL) 2023
Webpage  •  Paper

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

Open X-Embodiment Collaboration
Under review
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
Under review
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
Workshop 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
Under review
Webpage  •  Dataset  •  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
IEEE International Conference on Robotics and Biomimetics (ROBIO) 2023

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
Webpage  •  Paper

UniContact: A Basic Model for Robotic Manipulation of Contact Synthesis on Rigid and Articulated Rigid Bodies with Arbitrary Manipulators

Gang Yang, Zhixuan Xu, Zixuan Liu, Jichen Sun, Hanwei Fan, Xinghao Zhu, Lin Shao
Under review
Webpage

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
International Conference on Robotics and Automation (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
International Conference on Robotics and Automation (ICRA) 2022
Video  •  Paper

Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints

Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, Jeroen Van Baar
International Conference on Robotics and Automation (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
International Conference on Robotics and Automation (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
Robotics and Automation Letters (RAL) 2022
Paper

6-DoF Contrastive Grasp Proposal Network

Xinghao Zhu, Lingfeng Sun, Yongxiang Fan, Masayoshi Tomizuka
International Conference on Robotics and Automation (ICRA) 2021
Video  •  Paper

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

Shiyu Jin, Xinghao Zhu, Changhao Wang, Masayoshi Tomizuka
American Control Conference (ACC) 2021
Paper

Optimization Model for Planning Precision Grasps with Multi-Fingered Hands

Yongxiang Fan, Xinghao Zhu, Masayoshi Tomizuka
International Conference on Intelligent Robots and Systems (IROS) 2019
Webpage  •  Paper

Professional Activities

Teaching

Collaborators