Xinghao Zhu

EDBT 2026 Demo / reviewers in the wild / expert

dblp:239/5218 · DBLP profile ↗

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18ranked-venue papers

6as first author

16since 2021 · last 2026

—ORCID · conflict

Domains — the database's venue-derived domains; a paper can count in several

Systems, architecture and hardware · 17 · 6 first-author · 16 since 2021Artificial intelligence and machine learning · 14 · 5 first-author · 13 since 2021Databases, data management, data science and information retrieval · 1

Year	Publication	Venue	Position
2026	MoEA: A Mixture of Experts Accelerator with Direct Token Access and Dynamic Expert Scheduling abstract Transformer-based large language models (LLMs) have achieved widespread adoption, but their growing model sizes impose substantial computational costs. Mixture-of-Experts (MoE) mechanism alleviates this by sparsely activating a subset of experts for each token. However, it still faces two critical challenges: (1) token rearrangement incurs non-trivial overhead of off-chip data movement, and (2) static execution flow fails to exploit inter-expert token reuse. In this paper, we present MoEA, a specialized accelerator designed to address the inefficiencies in MoE inference. MoEA introduces two key innovations: a Direct Token Access mechanism that leverages a hardware-managed metadata queue to eliminate off-chip token rearrangement, and a Dynamic Expert Scheduler that captures inter-expert token reuse patterns and optimizes expert execution order to maximize token reuse. Evaluations on representative MoE benchmarks show that MoEA reduces off-chip memory access by 12.06% and achieves $259.24 \times, 9.63 \times$ and $1.16 \times$ speedups over CPU, GPU and EdgeMoE accelerator, respectively. Zifeng Zhao, Jiewen Zheng, Tianxing Xie, Xinghao Zhu, Gengsheng Chen	ASP-DAC	4
2025	RUNoC: Re-inject into the Underground Network to Alleviate Congestion in Large-Scale NoC abstract In modem high-performance systems, the demand for large-scale Networks-on-Chip (NoC) has grown rapidly. As NoCs are scaled up, the issue of network congestion becomes increasingly critical and complex to address. Existing researches utilize partition-based NoC and Two-Level Network (TLN) techniques to alleviate congestion in large-scale NoCs. However, most of these solutions have limitations concerning universality, hardware overhead and workload balancing due to their inherent complexity and design constraints. In this article, we propose RUNoC, a new partition-based TLN architecture consisting of a Main Network for normal transmission and a sparse Underground Network enabling fast transmission. A special hardware unit is designed and integrated into each Main Network Router to decide when a packet needs to be routed to Underground Network based on network congestion information and the distance to the packet's destination, thereby alleviating congestion in Main Network and ensuring a subtle load balance between the two networks. Additionally, RUNoC is further enhanced by Shared Row Buffers (SRBs) and specialized network interface to guarantee deadlock and livelock freedom. Evaluation results indicate that RUNoC improves up to 60% in performance compared to XY routing scheme and up to 34% in performance-area ratio compared to existing researches. Xinghao Zhu, Jiyuan Bai, Zifeng Zhao, Qirong Yu, Gengsheng Chen	ASP-DAC	1
2025	Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion abstract In reinforcement learning for legged robot locomotion, crafting effective reward strategies is crucial. Predefined gait patterns and complex reward systems are widely used to stabilize policy training. Drawing from the natural locomotion behaviors of humans and animals, which adapt their gaits to minimize energy consumption, we investigate the impact of incorporating an energy-efficient reward term that prioritizes distance-averaged energy consumption into the reinforcement learning framework. Our findings demonstrate that this simple addition enables quadruped robots to autonomously select appropriate gaits-such as four-beat walking at lower speeds and trotting at higher speeds-without the need for explicit gait regularizations. Furthermore, we provide a guideline for tuning the weight of this energy-efficient reward, facilitating its application in real-world scenarios. The effectiveness of our approach is validated through simulations and on a real Unitree Gol robot. This research highlights the potential of energy-centric reward functions to simplify and enhance the learning of adaptive and efficient locomotion in quadruped robots. Videos and more details are at https://sites.google.com/berkeley.edu/efficient-locomotion Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Ziyin Xiong, Chenran Li, Koushil Sreenath, Masayoshi Tomizuka	ICRA	3
2025	ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis abstract Vision-language-action (VLA) models present a promising paradigm by training policies directly on real robot datasets like Open X-Embodiment. However, the high cost of real-world data collection hinders further data scaling, thereby restricting the generalizability of VLAs. In this paper, we introduce ReBot, a novel real-to-sim-to-real approach for scaling real robot datasets and adapting VLA models to target domains, which is the last-mile deployment challenge in robot manipulation. Specifically, ReBot replays real-world robot trajectories in simulation to diversify manipulated objects (real-to-sim), and integrates the simulated movements with inpainted real-world background to synthesize physically realistic and temporally consistent robot videos (sim-to-real). Our approach has several advantages: 1) it enjoys the benefit of real data to minimize the sim-to-real gap; 2) it leverages the scalability of simulation; and 3) it can generalize a pretrained VLA to a target domain with fully automated data pipelines. Extensive experiments in both simulation and real-world environments show that ReBot significantly enhances the performance and robustness of VLAs. For example, in SimplerEnv with the WidowX robot, ReBot improved the in-domain performance of Octo by 7.2% and OpenVLA by 21.8%, and out-of-domain generalization by 19.9% and 9.4%, respectively. For real-world evaluation with a Franka robot, ReBot increased the success rates of Octo by 17% and OpenVLA by 20%. More information can be found at our project page. Yue Yang 0024, Xinghao Zhu, Gedas Bertasius, Daniel Szafir, Mingyu Ding	IROS	3
2025	PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models abstract Robotic grasping, crucial for robot interaction with objects, still struggles with counter-intuitive or long-tailed scenarios like uncommon materials and shapes. Humans, however, intuitively adjust grasps with their physics-informed interpretations of the object, using visual and linguistic cues. This work introduces PhyGrasp, a large multimodal model and dataset that enhance robotic manipulation by combining natural language and 3D point clouds using a bridge module to integrate these inputs. The language modality exhibits robust reasoning capabilities concerning the impacts of diverse physical properties on grasping, while the 3D modality comprehends object shapes and parts. With these two capabilities, PhyGrasp is able to accurately assess the physical properties of object parts and determine optimal grasping poses. Additionally, the model’s language comprehension enables human instruction interpretation, generating grasping poses that align with human preferences. To train PhyGrasp, we construct a dataset PhyPartNet with 195K object instances with varying physical properties and human preferences, alongside their corresponding language descriptions. Extensive experiments conducted in the simulation and on the real robots demonstrate that PhyGrasp achieves state-of-the-art performance, particularly in long-tailed cases, e.g., about 10% improvement in success rate over GraspNet. More demos and information are available on https://sites.google.com/view/phygrasp. Dingkun Guo, Yuqi Xiang, Shuqi Zhao, Xinghao Zhu, Masayoshi Tomizuka, Mingyu Ding	IROS	4
2024	PAIR: Periodically Alternate the Identity of Routers to Ensure Deadlock Freedom in NoC abstract Network-on-Chip (NoC) has become widely adopted in multi/many-core systems for on-chip communication. Avoiding deadlock is a critical issue in NoC design. Recently proposed techniques partition the network resources into one or more express paths. Each path allows a blocked packet to move forward to its destination, thereby breaking deadlocks. However, as the scaling up of NoC, the existing methods are experiencing a decline in efficiency due to the coarse-grained partitioning strategy. In this work, we present PAIR, a novel scheme that guarantees deadlock freedom. PAIR adopts a fine-grained resource partitioning approach, significantly increasing the number of express paths available. The express paths in PAIR not only allow blocked packets but also permit non-blocked packets to be forwarded to the next hop, minimizing the performance degradation for the normal flow control. We implemented and evaluated PAIR on the mesh network using classic synthetic traffic patterns. Our experiments show that PAIR significantly improves throughput performance, achieving an average increase of 80.36% compared with state-of-the-art deadlock-free solutions. Furthermore, PAIR outperforms the latest deadlock-free scheme by 37.78% in terms of throughput. Zifeng Zhao, Xinghao Zhu, Jiyuan Bai, Gengsheng Chen	ASPDAC	2
2024	Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration abstract Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io. Abigail O'Neill, Abhiram Maddukuri, Abhishek Gupta 0004, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu 0003, Charlotte Le, Chelsea Finn, Chen Wang 0053, Chenfeng Xu, Cheng Chi 0001, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Drieß, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia 0002, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su 0001, Haoshu Fang, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim 0001, Jaimyn Drake, Jan Peters 0001, Jan Schneider 0007, Jasmine Hsu, Jeannette Bohg, Jeffrey T. Bingham, Jensen Gao, Jiaheng Hu, Jiajun Wu 0001, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan 0001, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Kenneth Y. Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Zhang 0002, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Yunliang Chen 0001, Lerrel Pinto, Li Fei-Fei 0001, Liam Tan, Linxi Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang 0003, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma 0001, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen 0001, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Norman Di Palo, Nur Muhammad Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu 0010, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Rafael Rafailov, Ria Doshi, Roberto Martin Martin, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair 0003, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wolfram Burgard, Xiaolong Wang 0004, Xinghao Zhu, Xinyang Geng, Liangwei Xu, Yecheng Jason Ma 0001, Yejin Kim 0003, Yevgen Chebotar, Yilin Wu 0003, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang 0001, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zichen Jeff Cui, Zichen Zhang 0016, Zipeng Lin	ICRA	247
2024	Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks abstract Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary tasks. However, planning for these tasks in the presence of uncertainties is challenging as it requires "chain-of-thought" reasoning, aggregating information from the environment, updating state estimates, and generating actions based on the updated state estimates. In this paper, we present an interactive planning technique for partially observable tasks using LLMs. In the proposed method, an LLM is used to collect missing information from the environment using a robot, and infer the state of the underlying problem from collected observations while guiding the robot to perform the required actions. We also use a fine-tuned Llama 2 model via self-instruct and compare its performance against a pre-trained LLM like GPT-4. Results are demonstrated on several tasks in simulation as well as real-world environments. Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres	ICRA	6
2024	Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection abstract Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which is limited to target segmentation, pose regression, or using fixed target blueprints, our work presents a holistic multi-level framework for part assembly planning consisting of part assembly sequence inference, part motion planning, and robot contact optimization. We present the Part Assembly Sequence Transformer (PAST) – a sequence-to-sequence neural network – to infer assembly sequences recursively from a target blueprint. We then use a motion planner and optimization to generate part movements and contacts. To train PAST, we introduce D4PAS: a large-scale Dataset for Part Assembly Sequences consisting of physically valid sequences for industrial objects. Experimental results show that our approach generalizes better than prior methods while needing significantly less computational time for inference. Further details on our experiments and results are available in the video. Xinghao Zhu, Devesh K. Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian	ICRA	1
2024	Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach abstract Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods. Inspired by recent advances in contact-rich locomotion and manipulation, this paper proposes a novel model-based approach to control dexterous in-hand manipulation and overcome the current limitations. The proposed approach has an attractive feature, which allows the robot to robustly perform long-horizon in-hand manipulation without predefined contact sequences or separate planning procedures. Specifically, we design a high-level contact-implicit model predictive controller to generate real-time contact plans executed by the low-level tracking controller. Compared to other model-based methods, such a long-horizon feature enables replanning and robust execution of contact-rich motions to achieve large displacements in-hand manipulation more efficiently; Compared to existing learning-based methods, the proposed approach achieves dexterity and also generalizes to different objects without any pre-training. Detailed simulations and ablation studies demonstrate the efficiency and effectiveness of our method. It runs at 20Hz on the 23-degree-of-freedom, long-horizon, in-hand object rotation task. Yongpeng Jiang, Mingrui Yu 0001, Xinghao Zhu, Masayoshi Tomizuka, Xiang Li 0009	IROS	3
2024	In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing abstract Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires continuously changing the grasp point by in-hand sliding while holding the DLO to prevent it from falling. Achieving such a skill is very challenging for robots without using specially designed but not versatile end-effectors. Previous works have attempted using generic parallel grippers, but their robustness is unsatisfactory owing to the conflict between following and holding, which is hard to balance with a one-degree-of-freedom gripper. In this work, inspired by how humans use fingers to follow DLOs, we explore the usage of a generic dexterous hand with tactile sensing to imitate human skills and achieve robust in-hand DLO following. To enable the hardware system to function in the real world, we develop a framework that includes Cartesian-space arm-hand control, tactile-based in-hand 3-D DLO pose estimation, and task-specific motion design. Experimental results demonstrate the significant superiority of our method over using parallel grippers, as well as its great robustness, generalizability, and efficiency. Mingrui Yu 0001, Boyuan Liang, Xiang Zhang 0020, Xinghao Zhu, Lingfeng Sun, Shiji Song, Xiang Li 0009, Masayoshi Tomizuka	IROS	4
2023	Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces abstract In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in human's daily manipulation, contact between arms and obstacles is prevalent and even necessary. This paper investigates the benefit of allowing safe contact during robotic manipulation and advocates generating and tracking compliance reference signals in both operational and null spaces. In addition, to optimize the collision-allowed trajectories, we present a hybrid solver that integrates sampling- and gradient-based approaches. We evaluate the proposed method on a goal-reaching task in five simulated and real-world environments with different collisional conditions. We show that allowing safe contact improves goal-reaching efficiency and provides feasible solutions in highly collisional scenarios where collision-free constraints cannot be enforced. Moreover, we demonstrate that planning in null space, in addition to operational space, improves trajectory safety. Further information is available at https://rolandzhu.github.io/ContactReach/. Xinghao Zhu, Wenzhao Lian, Bodi Yuan, C. Daniel Freeman, Masayoshi Tomizuka	ICRA	1
2022	Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks abstract This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitives are sequences of elementary actions with certain exit conditions, such as “pushing down the peg until contact”. Since the primitive is an abstraction of robot control commands and encodes human prior knowledge, it reduces the exploration difficulty and yields better learning efficiency. In this paper, we learn robot assembly skills via primitives. Specifically, we formulate insertion primitives as parameterized actions: hybrid actions consisting of discrete primitive types and continuous primitive parameters. Compared with the previous work using a set of discretized parameters for each primitive, the agent in our method can freely choose primitive parameters from a continuous space, which is more flexible and efficient. To learn these insertion primitives, we propose Twin-Smoothed Multi-pass Deep Q-Network (TS-MP-DQN), an advanced version of MP-DQN with twin Q-network to reduce the Q-value over-estimation. Extensive experiments are conducted in the simulation and real world for validation. From experiment results, our approach achieves higher success rates than three baselines: MP-DQN with parameterized actions, primitives with discrete parameters, and continuous velocity control. Furthermore, learned primitives are robust to sim-to-real transfer and can generalize to challenging assembly tasks such as tight round peg-hole and complex shaped electric connectors with promising success rates. Experiment videos are available at https://msc.berkeley.edu/research/insertion-primitives.html. Xiang Zhang 0020, Shiyu Jin, Xinghao Zhu, Masayoshi Tomizuka	ICRA	4
2022	Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints abstract Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct contact information and benefit robotic grasping and manipulation. This paper focuses on learning to synthesize the volumetric mesh of the elastomer based on the image imprints acquired from vision-based tactile sensors. Synthetic image-mesh pairs and real-world images are gathered from 3D finite element methods (FEM) and physical sensors, respectively. A graph neural network (GNN) is introduced to learn the image-to-mesh mappings with supervised learning. A self-supervised adaptation method and image augmentation techniques are proposed to transfer networks from simulation to reality, from primitive contacts to unseen contacts, and from one sensor to another. Using these learned and adapted networks, our proposed method can accurately reconstruct the deformation of the real-world tactile sensor elastomer in various domains, as indicated by the quantitative and qualitative results. Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, Jeroen van Baar	ICRA	1
2022	Learn to Grasp with Less Supervision: A Data-Efficient Maximum Likelihood Grasp Sampling Loss abstract Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping datasets are typically sparsely labeled (i.e., a small number of successful grasp labels**Labels refer to marking the image to indicate a successful robotic grasp. in each image). The data sparsity issue can lead to insufficient supervision and false-negative labels, and thus results in poor learning results. This paper proposes a Maximum Likelihood Grasp Sampling Loss (MLGSL) to tackle the data sparsity issue. The proposed method supposes that successful grasps are stochastically sampled from the predicted grasp distribution and maximizes the observing likelihood. MLGSL is utilized for training a fully convolutional network that generates thousands of grasps simultaneously. Training results suggest that models based on MLGSL can learn to grasp with datasets composing of 2 labels per image. Compared to previous works, which require training datasets of 16 labels per image, MLGSL is 8× more data-efficient. Meanwhile, physical robot experiments demonstrate an equivalent performance at a 90.7% grasp success rate on household objects. Codes and videos are available at [1]. Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen 0002, Masayoshi Tomizuka	ICRA	1
2021	6-DoF Contrastive Grasp Proposal Network abstract Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object information, and sensor noise. In this paper, we present a 6-DoF contrastive grasp proposal network (CGPN) to infer 6-DoF grasps from a single-view depth image. First, an image encoder is used to extract the feature map from the input depth image, after which 3-DoF grasp regions are proposed from the feature map with a rotated region proposal network. Feature vectors that within the proposed grasp regions are then extracted and refined to 6-DoF grasps. The proposed model is trained offline with synthetic grasp data. To improve the robustness in reality and bridge the simulation-to-real gap, we further introduce a contrastive learning module and variant image processing techniques during the training. CGPN can locate collision-free grasps of an object using a single-view depth image within 0.5 second. Experiments on a physical robot further demonstrate the effectiveness of the algorithm. The experimental videos are available at [1]. Xinghao Zhu, Lingfeng Sun, Yongxiang Fan, Masayoshi Tomizuka	ICRA	1
2020	Main path analysis on cyclic citation networks abstract Main path analysis is a famous network‐based method for understanding the evolution of a scientific domain. Most existing methods have two steps, weighting citation arcs based on search path counting and exploring main paths in a greedy fashion, with the assumption that citation networks are acyclic. The only available proposal that avoids manual cycle removal is to preprint transform a cyclic network to an acyclic counterpart. Through a detailed discussion about the issues concerning this approach, especially deriving the “de‐preprinted” main paths for the original network, this article proposes an alternative solution with two‐fold contributions. Based on the argument that a publication cannot influence itself through a citation cycle, the SimSPC algorithm is proposed to weight citation arcs by counting simple search paths. A set of algorithms are further proposed for main path exploration and extraction directly from cyclic networks based on a novel data structure main path tree . The experiments on two cyclic citation networks demonstrate the usefulness of the alternative solution. In the meanwhile, experiments show that publications in strongly connected components may sit on the turning points of main path networks, which signifies the necessity of a systematic way of dealing with citation cycles. Xiaorui Jiang, Xinghao Zhu, Jingqiang Chen	J. Assoc. Inf. Sci. Technol.	2
2019	optimization Model for Planning Precision Grasps with Multi-Fingered Hands abstract Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape, high-dimensionality, collision and undesired properties of the sensing and positioning. This paper proposes an optimization model to search for precision grasps with multi-fingered hands. The model takes noisy point cloud of the object as input and optimizes the grasp quality by iteratively searching for the palm pose and finger joints positions. The collision between the hand and the object is approximated and penalized by a series of least-squares. The collision approximation is able to handle the point cloud representation of the objects with complex shapes. The proposed optimization model is able to locate collision-free optimal precision grasps efficiently. The average computation time is 0.50 sec/grasp. The searching is robust to the incompleteness and noise of the point cloud. The effectiveness of the algorithm is demonstrated by experiments. Yongxiang Fan, Xinghao Zhu, Masayoshi Tomizuka	IROS	2