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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
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<!-- <body style="width:1080;max-width:1080;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"> -->
<body>
<!-- ======= Header ======= -->
<header id="header">
<div class="container">
<h1><a href="index.html">Anxing Xiao</a></h1>
<!-- Uncomment below if you prefer to use an image logo -->
<!-- <a href="index.html" class="mr-auto"><img src="assets/img/logo.png" alt="" class="img-fluid"></a> -->
<h2>Robotics Researcher, CS PhD Student at NUS</h2>
<!-- <h2>CS PhD Student at National University of Singapore</h2> -->
<nav id="navbar" class="navbar">
<ul>
<li><a class="nav-link active" href="#header">Home</a></li>
<li><a class="nav-link" href="#about">About Me</a></li>
<li><a class="nav-link" href="#research">Research</a></li>
<li><a class="nav-link" href="#publications">Publications</a></li>
<li><a class="nav-link" href="#coursework">Coursework</a></li>
<li><a class="nav-link" href="#misc">Misc</a></li>
</ul>
<i class="bi bi-list mobile-nav-toggle"></i>
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<a href="https://scholar.google.com/citations?user=qrgIuiEAAAAJ" class="google"><i class="bi bi-google"></i></a>
<a href="https://www.linkedin.com/in/anxingxiao/" class="linkedin"><i class="bi bi-linkedin"></i></a>
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</div>
</div>
</header><!-- End Header -->
<!-- ======= About Section ======= -->
<section id="about" class="about">
<!-- ======= About Me ======= -->
<div class="about-me container">
<div class="row">
<div class="col-lg-3" data-aos="fade-right" style="margin: 8px 0 -5px 0px;">
<img src="assets/img/me.jpg" class="img-fluid" alt="" style="border-radius: 50px;">
</div>
<div class="col-lg-9 pt-4 pt-lg-0 content" data-aos="fade-left">
<h3>Anxing Xiao (肖岸星), Robotics Researcher & Engineer</h3>
<p >
I am a Ph.D. candidate in Computer Science at the National University of Singapore, advised by <a href='https://www.comp.nus.edu.sg/~dyhsu/'>Prof. David Hsu</a>.
My research primarily focuses on designing autonomous systems that enable robots to adaptively perform assistive tasks in the dynamic and open human-centered environments.
</p>
<p>
Previously, I worked as a Research Assistant with <a href='https://www.ee.cuhk.edu.hk/~qhmeng/about.html'>Prof. Max Q.-H. Meng</a>. I received my B.E. in Automation from the Harbin Institute of Technology, Shenzhen in 2021. During my junior year, I was a visiting student at UC Berkeley, working with <a href='https://hybrid-robotics.berkeley.edu/koushil/'>Prof. Koushil Sreenath</a>.
<!-- Previously, I worked as a Research Assistant with <a href='https://www.ee.cuhk.edu.hk/~qhmeng/about.html'>Prof. Max Q.-H. Meng</a>. I received my B.E. in Automation from the Harbin Institute of Technology, Shenzhen in 2021. I was a visiting student at UC Berkeley, working with <a href='https://hybrid-robotics.berkeley.edu/koushil/'>Prof. Koushil Sreenath</a>. -->
</p>
<p>
I love playing basketball 🏀 and table tennis 🏓 in my free time. I am also open to collaborating with people to explore the possibilities of robotics in various fields (e.g. HCI, IoT, Science).
Additionally, we always welcome undergraduate student who are interested and have strong experience in robotics to join our research projects at NUS or Tsinghua SIGS. </p>
<!-- Additionally, we always welcome undergraduate student who are interested and have strong experience in robotics to <a href="https://forms.office.com/r/WAEn4NA0Kj">join our research projects</a> at NUS or Tsinghua SIGS</a>. </p> -->
<p style="text-align:center">
<a href="assets/doc/CV_AnxingXiao.pdf">CV</a>   /  
<a href="mailto:[email protected]">Email</a>   /  
<a href="https://scholar.google.com/citations?user=qrgIuiEAAAAJ&hl=en"> Google Scholar </a>   /  
<a href="https://github.com/threefruits"> Github </a>   /  
<a href="https://twitter.com/anxingxiao"> Twitter </a>   /  
<a href="https://bigfive-test.com/result/622f8ea65f3b760009a78ab6"> Personality </a>
</p>
</div>
</div>
</div><!-- End About Me -->
<!-- ======= News ======= -->
<div class="container">
<div class="section-title">
<h2>News</h2>
</div>
<div class="row">
<div class="col-lg-12 pt-2 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded"></i>10/2024: Check our recent work on <a href='https://arxiv.org/pdf/2409.20548'>Remote Multimodal Interaction</a>. We design an interaction system for remote user to instruct the household assistant via language and gesture.</li>
<li><i class="icofont-rounded"></i>10/2024: Check our recent work on <a href= 'https://arxiv.org/pdf/2409.18084'>Social Robot Navigation</a>. Collaborative work with Tsinghua SIGS.</li>
<li><i class="icofont-rounded"></i>05/2024: Our work on <a href="https://arxiv.org/pdf/2405.02794">Tactile-Language Models</a> was accepted to RSS'24</a>. Collaborative work with NUS CLeAR Lab and UW. </li>
<li><i class="icofont-rounded"></i>06/2023: I'm glad to join <a href="https://adacomp.comp.nus.edu.sg/people/">Adaptive Computing Laboratory</a> led by <a href="https://www.comp.nus.edu.sg/~dyhsu/">Prof. David Hsu</a>.</li>
<li><i class="icofont-rounded"></i>06/2023: Our extended work on <a href="https://arxiv.org/abs/2303.06624">Collaborative Trolley Transportation</a> was accepted to IROS'23. Collaborative work with SUSTech.</li>
<li><i class="icofont-rounded"></i>01/2023: I join National University of Singapore as a CS PhD student.</li>
<li><i class="icofont-rounded"></i>01/2023: Our work on <a href="https://arxiv.org/abs/2203.03927">Quadruped Comfortable Guidance</a> was accepted to ICRA'23. Collaborative work with Tsinghua SIGS.</li>
<li><i class="icofont-rounded"></i>09/2022: Our work on <a href="https://arxiv.org/abs/2203.04541">Uneven Terrain Navigation</a> is accepted to IROS'22. Collaborative work with Tsinghua SIGS.</li>
<li><i class="icofont-rounded"></i>02/2022: Our work on <a href="https://arxiv.org/abs/2110.06648">Autonomous Trolley Collection Robot</a> is accepted to ICRA'22.</li>
<li><i class="icofont-rounded"></i>07/2021: I graduate from HIT Shenzhen Campus with Dean's Award and join <a href="http://www.ee.cuhk.edu.hk/~qhmeng/about.html">Prof. Max Q.-H. Meng</a>'s group as a research assistant.</li>
<li><i class="icofont-rounded"></i>06/2021: Our work on <a href="https://arxiv.org/abs/2103.14300">Robotic Guide Dog</a> is selected to Best Service Robot Paper Finalist at ICRA'21.</li>
<li><i class="icofont-rounded"></i>06/2021: Our work on <a href="https://arxiv.org/abs/2107.00773">Optimal Quadruped Jumping</a> is accepted to CASE'21.</li>
<li><i class="icofont-rounded"></i>08/2019: I am enrolled as a visiting student at UC Berkeley.</li>
</ul>
</div>
</div>
</div>
<div class="container">
<div class="section-title">
<h2>Honors and Awards</h2>
</div>
<div class="row">
<!-- <div class="col-lg-12 pt-0 pt-lg-0 content">
<p><font size="4pt" color="orange">I am currently looking for a PhD position in Robotics, Control or Machine Learning.</font> </p> -->
<div class="col-lg-12 pt-2 pt-lg-0 content">
<ul>
<!-- <li><i class="icofont-rounded"></i>03/2022: I receive the UBC Four Year Doctoral Fellowship.</li> -->
<li><i class="icofont-rounded"></i> <strong>Best Service Robot Paper Finalist in ICRA 2021</strong></li>
<li><i class="icofont-rounded"></i> Dean's Award at HIT Shenzhen, 2021.4</li>
<li><i class="icofont-rounded"></i> National Scholarship, 2018.10</li>
<li><i class="icofont-rounded"></i> First-class Undergraduate Academic Scholarship at HIT Shenzhen, 2018-2021</li>
</ul>
</div>
</div>
</div>
<div class="services container">
<div class="section-title">
<h2>Academic Services</h2>
</div>
<div class="col-lg-12 pt-2 pt-lg-0 content">
<ul>
<h3 style="margin:15px 0 5px 0px;">Journal Reviewer:</h3>
<li>IEEE Transactions on Robotics (TRO), 2021, 2024</li>
<li>IEEE Robotics and Automation Letters (RAL), 2022, 2023, 2024</li>
<li>IEEE Transactions on Automation Science and Engineering (TASE), 2024</li>
<li>IEEE Transactions on Industrial Electronics (TIE), 2024</li>
<li>Advanced Robotics, 2024</li>
<h3 style="margin:15px 0 5px 0px;">Conference Reviewer:</h3>
<li>IEEE International Conference on Robotics and Automation (ICRA), 2022, 2023, 2024, 2025</li>
<li>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, 2024</li>
<!-- <h3 style="margin:15px 0 5px 0px;">Research Mentorship:</h3>
<li><strong>Tsinghua SIGS</strong>: Deformable Object Manipulation [Ongoing], Social Robot Navigation [Ongoing], Quadruped Guidance Robot <a href="https://arxiv.org/pdf/2203.03927.pdf">[ICRA 23]</a>, Uneven Terrain Navigation <a href="https://arxiv.org/pdf/2203.04541.pdf">[IROS 22]</a></li>
<li><strong>SUSTech</strong>: Collaborative Trolley Transportation <a href="https://arxiv.org/pdf/2303.06624.pdf">[IROS 23]</a></li> -->
</ul>
</div>
</div>
</section><!-- End About Section -->
<!-- ======= Services Section ======= -->
<section id="publications" class="publications">
<div class="publications container">
<div class="section-title">
<h2>Publications</h2>
</div>
<div class="row">
<!--<p> </p>-->
<div class="col-lg-12 pt-2 pt-lg-3 content" >
<!-- <h3><a href="https://scholar.google.com/citations?user=qrgIuiEAAAAJ&hl=en" target="_blank"> Google Scholar</a> </h3>
<br> -->
<h3>2024</h3>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Octopi: Object Property Reasoning with Large Tactile-Language Models </strong>
<br>
<font color="#4e4e4e" size="4px">Samson Yu, Kelvin Lin, <strong>Anxing Xiao</strong>, Jiafei Duan, and Harold Soh </font>
<br>
<em>Robotics: Science and Systems (RSS) 2024. </font>
</em>
<br>
<a href="https://arxiv.org/abs/2405.02794">arXiv</a>
/
<a href="https://octopi-tactile-lvlm.github.io/">Website</a>
/
<a href="https://github.com/clear-nus/octopi">Code</a>
</p>
</div>
</div>
</div>
<div class="col-lg-12 pt-2 pt-lg-3 content" >
<!-- <h3><a href="https://scholar.google.com/citations?user=qrgIuiEAAAAJ&hl=en" target="_blank"> Google Scholar</a> </h3>
<br> -->
<h3>2023</h3>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots </strong>
<br>
<font color="#4e4e4e" size="4px">Bingyi Xia, Hao Luan, Ziqi Zhao, Xuheng Gao, Peijia Xie, <strong>Anxing Xiao</strong>, Jiankun Wang, Max Q-H Meng</font>
<br>
<em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023. </font>
</em>
<br>
<a href="https://arxiv.org/abs/2303.06624">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=efnPERm0Rco&feature=youtu.be">Video</a>
</p>
</div>
</div>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach </strong>
<br>
<font color="#4e4e4e" size="4px">Yanbo Chen, Zhengzhe Xu, Zhuozhu Jian, Gengpan Tang, Yunong Yangli, <strong>Anxing Xiao</strong>, Xueqian Wang, Bin Liang</font>
<br>
<em>IEEE International Conference on Robotics and Automation (ICRA) 2023. </font>
</em>
<br>
<a href="https://arxiv.org/abs/2203.03927">arXiv</a>
/
<a href="https://youtu.be/gd-RcYOqGuo">Video</a>
</p>
</div>
</div>
</div>
<div class="col-lg-12 pt-2 pt-lg-3 content" >
<h3>2022</h3>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control</strong>
<br>
<font color="#4e4e4e" size="4px"><strong>Anxing Xiao</strong>*, Hao Luan*, Ziqi Zhao*, Yue Hong, Jieting Zhao, Jiankun Wang, Max Q-H Meng</font>
<br>
<em>IEEE International Conference on Robotics and Automation (ICRA) 2022.
</em>
<br>
<a href="https://arxiv.org/abs/2110.06648">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=6SwjgGvRtno">Video</a>
</p>
<p>
<strong>PUTN: A Plane-fitting based Uneven Terrain Navigation Framework</strong>
<br>
<font color="#4e4e4e" size="4px">Zhuozhu Jian, Zihong Lu, Xiao Zhou, Bin Lan, <strong>Anxing Xiao</strong>, Xueqian Wang, Bin Liang</font>
<br>
<em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. </font>
</em>
<br>
<a href="https://arxiv.org/abs/2203.04541">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=3ZK-Ut29hLI">Video</a>
/
<a href="https://github.com/jianzhuozhuTHU/putn">Code</a>
</p>
</div>
</div>
</div>
<div class="col-lg-12 pt-2 pt-lg-3 content" >
<h3>2021</h3>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Robotic Guide Dog: Leading Human with Leash-Guided Hybrid Physical Interaction</strong>
<br>
<font color="#4e4e4e" size="4px"><strong>Anxing Xiao</strong>*, Wenzhe Tong*, Lizhi Yang*, Jun Zeng, Zhongyu Li and Koushil Sreenath</font>
<br>
<em>IEEE International Conference on Robotics and Automation (ICRA) 2021.
</em>
<br>
<font color="#ec2f00" size="4px">This paper was the ICRA Best Paper Award Finalist for Service Robotics.</font>
<br>
<a href="https://arxiv.org/abs/2103.14300">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=FySXRzmji8Y&t=11s">Video</a>
Media:
<a href="https://www.newscientist.com/article/2273390-robot-guide-dog-could-help-people-who-are-blind-navigate/">New Scientist</a>
/ <a href="https://www.dailymail.co.uk/sciencetech/article-9441691/Robots-Scientists-develop-four-legged-guide-dog-bot-lead-blind-people-obstacles.html">Daily Mail</a>
/ <a href="https://theindependent.sg/robotic-dog-to-guide-the-blind-and-visually-impaired/">The Independent</a>
/ <a href="https://techxplore.com/news/2021-04-laser-equipped-robotic-dog-people.html">Tech Xplore</a>
/ <a href="https://www.dailycal.org/2021/04/12/uc-berkeley-researchers-create-robotic-guide-dog-for-visually-impaired-people/">Daily Californian</a>
</p>
<p>
<strong>Autonomous Navigation with Optimized Jumping through Constrained Obstacles on Quadrupeds</strong>
<br>
<font color="#4e4e4e" size="4px">Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, <strong>Anxing Xiao</strong>, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath</font>
<br>
<em>IEEE International Conference on Automation Science and Engineering (CASE) 2021.
</em>
<br>
<a href="https://arxiv.org/abs/2107.00773">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=5pzJ8U7YyGc">Video</a>
</p>
</div>
</div>
</div>
<!-- <p> </p> -->
<div class="col-lg-12 pt-3 pt-lg-4 content" >
<h3>2020</h3>
<div class="row">
<div class="col-lg-12 item">
<p>
<strong>Amphibious Robot’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control</strong>
<br>
<font color="#4e4e4e" size="4px">Yaqi Wu*, <strong>Anxing Xiao</strong>*, Haoyao Chen, Shiwu Zhang and Yunhui Liu</font>
<br>
<em>IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2020.
</em>
<br>
<a href="https://arxiv.org/abs/2107.00773">arXiv</a>
/
<a href="https://www.youtube.com/watch?v=5pzJ8U7YyGc">Video</a>
</p>
</div>
</div>
</div>
<!-- <p> </p> -->
<div class="col-lg-12 pt-3 pt-lg-4 content" >
<p>
* co-first author<br>
</p>
</div>
<p> </p>
</div>
</section><!-- End Services Section -->
<!-- ======= Services Section ======= -->
<section id="research" class="services">
<div id = 'research_container' class="container">
<div class="section-title">
<h2>Research</h2>
</div>
<h4 class="">
My research interests span general purpose robotic algorithms and specialised robotic systems, including semantic reasoning, motion planning, human-robot interaction, and service robots design. I aim to narrow the gap between robotics research and its applications in socially-aware scenarios. My long-term research goal is to advance the capability of household robotic assistants to adapt to unforeseen objects and tasks in diverse human-centric environments. Currently, I am focusing on developing open-world reasoning and planning capabilities for mobile manipulation in daily-life assistive tasks.
</h4>
<br>
<div class="row">
<!--Reasoning and Planning, Service Robots, Robot Navigation, -->
<div class="col-lg-4 d-flex align-items-stretch mt-4 mt-md-0">
<a href="#reasoning">
<div class="icon-box">
<!-- <div class="icon"><i class="bx bx-file"></i></div> -->
<h4>Open-world Reasoning & Planning</h4>
<p>Develop algorithms and systems for robot to interact with the open world.</p>
</div>
</a>
</div>
<div class="col-lg-4 d-flex align-items-stretch mt-4 mt-md-0">
<a href="#servicerobots">
<div class="icon-box">
<!-- <div class="icon"><i class="bx bx-file"></i></div> -->
<h4>Intelligent Service Robots</h4>
<p>Autonomous robotic systems that can perform useful socially-aware tasks for humans.
</p>
</div>
</a>
</div>
<div class="col-lg-4 d-flex align-items-stretch mt-4 mt-md-0" >
<a href="#navigation">
<div class="icon-box">
<!-- <img src="assets/img/portfolio/portfolio-1.jpg" class="img-fluid" alt=""> -->
<!-- <div class="icon"><i class="bx bxl-dribbble"></i></div> -->
<h4>Robot Navigation in the Wild</h4>
<p>Enable mobile robots with complex navigation skills in unstructured environments. </p>
</div>
</a>
</div>
</div>
</div>
<div id='reasoning' class="container">
<br>
<div >
<h3>Open-world Reasoning & Planning</h3>
</div>
<p></p><p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/robibutler.png" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Robi Butler: Remote Multimodal Interactions with Household Robot Assistant</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">First Author | In Submission</font>
</strong>
<br>
<font size="4pt" >
We introduce Robi Butler, a novel household robotic system that enables multimodal interactions with remote users. Building on the advanced communication interfaces, Robi Butler allows users to monitor the robot's status, send text or voice instructions, and select target objects by hand pointing. At the core of our system is a high-level behavior module, powered by Large Language Models (LLMs), that interprets multimodal instructions to generate action plans. These plans are composed of a set of open vocabulary primitives supported by Vision Language Models (VLMs) that handle both text and pointing queries. The integration of the above components allows Robi Butler to ground remote multimodal instructions in the real-world home environment in a zero-shot manner.
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2409.20548" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://youtu.be/kz6P3ui-s3I?si=oXWV54YuRMzCRsQL" target="_blank">Video</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://robibutler.github.io/" target="_blank">Website</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/octopi_demo.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Octopi: Object Property Reasoning with Large Tactile-Language Models </h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Collaboration | RSS 2024 </font>
</strong>
<br>
<font size="4pt" >
In this work, we investigate combining tactile perception with language, which enables embodied systems to obtain physical properties through interaction and apply common-sense reasoning. We contribute a new dataset PHYSICLEAR, which comprises both physical/property reasoning tasks and annotated tactile videos obtained using a GelSight tactile sensor. We then introduce OCTOPI, a system that leverages both tactile representation learning and large vision-language models to predict and reason about tactile inputs with minimal language fine-tuning. Our evaluations on PHYSICLEAR show that OCTOPI is able to effectively use intermediate physical property predictions to improve physical reasoning in both trained tasks and for zero-shot reasoning.
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/pdf/2405.02794" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://octopi-tactile-lvlm.github.io/" target="_blank">Website</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/llmstate.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>LLM-State: Expandable State Representation for Long-horizon Task Planning in the Open World </h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Collaboration | Preprint </font>
</strong>
<br>
<font size="4pt" >
We propose a novel, expandable state representation that provides continuous expansion and updating of object attributes from the Language Model's inherent capabilities for context understanding and historical action reasoning. Our proposed representation maintains a comprehensive record of an object's attributes and changes, enabling robust retrospective summary of the sequence of actions leading to the current state. We validate our model through experiments across simulated and real-world task planning scenarios, demonstrating significant improvements over baseline methods in a variety of tasks requiring long-horizon state tracking and reasoning. <br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/pdf/2311.17406" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=QkN-8pxV3Mo" target="_blank">Video</a>
</p>
</div>
</div>
</div>
<div id='servicerobots' class="container">
<br>
<div >
<h3>Intelligent Service Robots</h3>
</div>
<p></p><p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/trolley_trans.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots </h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Research Mentor | IROS 2023</font>
</strong>
<br>
<font size="4pt" >
This paper presents an autonomous nonholonomic multi-robot system and a hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks in complex and dynamic environments.
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2303.06624" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=efnPERm0Rco&feature=youtu.be" target="_blank">Video</a>
</p>
</div>
</div>
<p></p> <br>
<!-- <p></p><p></p> <br> -->
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/guidedog2.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Research Mentor | ICRA 2023</font>
</strong>
<br>
<font size="4pt" > We propose a novel guidance robot system with a comfort-based concept.
To allow humans to be guided safely and more comfortably to the target position in complex environments, our proposed force planner can plan the forces experienced by the human with the force-based human motion model. And the proposed motion planner generate the specific motion command for robot and controllable leash to track the planned force.
Our system has been deployed on Unitree Laikago quadrupedal platform and validated in real-world scenarios. </font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2203.03927" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=Xroov-UASC0" target="_blank">Video</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/trolley_collect.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">First Author | ICRA 2022</font>
</strong>
<br>
<font size="4pt" > We propose a novel mobile manipulation system with applications in luggage trolley collection.
The proposed system integrates a compact hardware design and a progressive perception stragy and MPC-based planning framework, enabling the system to efficiently and robustly collect trolleys in dynamic and complex environments.
We demonstrate our design and framework by deploying the system on actual trolley collection tasks, and their effectiveness and robustness are experimentally validated. </font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2110.06648" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=6SwjgGvRtno" target="_blank">Video</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/guidedog1.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interactions</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">First Author | ICRA 2021</font>
</strong>
<br>
<font size="4pt" >We propose a hybrid physical Human-Robot Interaction model that involves leash tension to describe the dynamical relationship in the robot-guiding human system. This hybrid model is utilized in a mixed-integer programming problem to develop a reactive planner that is able to utilize slack-taut switching to guide a blind-folded person to safely travel in a confined space.
The proposed leash-guided robot framework is deployed on a Mini Cheetah quadrupedal robot and validated in experiments.
</font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2103.14300" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=FySXRzmji8Y&t=11s" target="_blank">Video</a>
</p>
</div>
</div>
</div>
<div id='navigation' class="container">
<br>
<div >
<h3>Robot Navigation in the Wild</h3>
</div>
<p></p><p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/gson.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>GSON: A Group-based Social Navigation Framework with Large Multimodal Model</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Research Mentor | In Submission</font>
</strong>
<br>
<font size="4pt" > In this paper, we present a group-based social navigation framework GSON to enable mobile robots to perceive and exploit the social group of their surroundings by leveling the visual reasoning capability of the Large Multimodal Model (LMM). For perception, we apply visual prompting techniques to zero-shot extract the social relationship among pedestrians and combine the result with a robust pedestrian detection and tracking pipeline to alleviate the problem of low inference speed of the LMM. Given the perception result, the planning system is designed to avoid disrupting the current social structure. We adopt a social structure-based mid-level planner as a bridge between global path planning and local motion planning to preserve the global context and reactive response.
</font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/pdf/2409.18084" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=S_o-hvIBg5M" target="_blank">Video</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/navigation.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>PUTN: A Plane-fitting based Uneven Terrain Navigation Framework</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Research Mentor | IROS 2022</font>
</strong>
<br>
<font size="4pt" > We proposed a plane-fitting based uneven terrain navigation framework(PUTN) which is designed for effectively navigating on uneven terrain.
A new terrain assessment with plane-fitting to evaluate the traversability of the terrain is proposed.
Combined with the informed-RRT* and this terrain assessment method, a new planning algorithm, PF-RRT*, is proposed. By using Gaussian Process, the traversability of the dense path is generated given the sample tree generated by PF-RRT*.
The results verify the advantages of the PF-RRT* algorithm and the practicability of PUTN.</font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2203.04541" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=3ZK-Ut29hLI" target="_blank">Video</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://github.com/jianzhuozhuTHU/putn" target="_blank">Code</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/jump.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Autonomous Navigation with Optimized Jumping through Constrained Obstacles on Quadrupeds</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey">Collaboration | CASE 2021</font>
</strong>
<br>
<font size="4pt" >
We developed an end-to-end framework that enabled multi-modal transitions between walking and jumping skills.
Using multi-phased collocation based nonlinear optimization, optimal trajectories were generated for the quadrupedal robot while avoiding obstacles and allowing the robot to jump through window-shaped obstacles.
An integrated state machine, path planner, and jumping and walking controllers enabled the Mini-Cheetah to jump over obstacles and navigate previously nontraversable areas.</font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2107.00773" target="_blank">Paper</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=5pzJ8U7YyGc" target="_blank">Video</a>
</p>
</div>
</div>
<p></p> <br>
<div class="row">
<div class="col-lg-4 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/amphi.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-8 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Hexapod Robotic’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control</h4>
<p class="font-italic">
<strong>
<font size="4pt" color="grey"> Collaboration | AIM 2021 </font>
</strong>
<br>
<font size="4pt" >We first contribute a well design deep neural network (DNN) as a precise black-box kinematic model of the amphibious robot. Then, we design a DNN based nonlinear model predictive controller which obtains the robot’s real-time moving command by iterative optimization. The simulation results indicate the proposed controller is superior to the basic controller in the robot’s tracking efficiency and accuracy.</font>
<br>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://ieeexplore.ieee.org/document/9159003" target="_blank">Paper</a>
<!-- <a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=FySXRzmji8Y&t=11s" target="_blank">Video</a> -->
</p>
</p>
</div>
</div>
</div>
<!-- <div class="container">
<div class="section-title">
<h2>Invited Talks</h2>
</div>
</div> -->
<div class="container">
<div class="section-title">
<h2>Media</h2>
</div>
<div class="row">
<div class="col-lg-12 pt-2 pt-lg-0 content">
<h2>Robotic Guide Dog [Apr. 2021]</h2>
<ul>
<!-- <li><i class="icofont-rounded"></i>03/2022: I receive the UBC Four Year Doctoral Fellowship.</li> -->
<li><i class="icofont-rounded"></i><a href= "https://techxplore.com/news/2021-04-robotic-dog-individuals.html" target="_blank">Tech Xplore</a> </li>
<li><i class="icofont-rounded"></i><a href= "https://mp.weixin.qq.com/s/U0c1rOuDCF3dgkoG0zMx9Q" target="_blank">MIT Technology Review Chinese (DeepTech)</a></li>
<li><i class="icofont-rounded"></i><a href= "https://www.newscientist.com/article/2273390-robot-guide-dog-could-help-people-who-are-blind-navigate/" target="_blank"> New Scientist</a></li>
<li><i class="icofont-rounded"></i><a href= "https://www.dailymail.co.uk/sciencetech/article-9441691/Robots-Scientists-develop-four-legged-guide-dog-bot-lead-blind-people-obstacles.html" target="_blank">Daily Mail</a> </li>
<li><i class="icofont-rounded"></i><a href= "https://theindependent.sg/robotic-dog-to-guide-the-blind-and-visually-impaired/" target="_blank">The Independent</a> </li>
<li><i class="icofont-rounded"></i><a href= "https://techxplore.com/news/2021-04-laser-equipped-robotic-dog-people.html" target="_blank">Tech Xplore</a> </li>
<li><i class="icofont-rounded"></i><a href= "https://www.dailycal.org/2021/04/12/uc-berkeley-researchers-create-robotic-guide-dog-for-visually-impaired-people/" target="_blank">Daily Californian</a> </li>
</ul>
</div>
</div>
</div><!-- End Skills -->
</section>
<!-- ======= Coursework Section ======= -->
<section id="coursework" class="coursework">
<div class="container">
<div class="section-title">
<h2>Teaching</h2>
</div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>NUS CS2109S Introduction to AI and Machine Learning (24 Spring)</br></li>
</ul>
</div>
<br>
<div class="section-title">
<h2>Selected Coursework</h2>
</div>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Artificial Intelligence:</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>NUS CS6216: Graph Machine Learning (Prof. Xavier Bresson)</br></li>
<li><i class="icofont-rounded-right"></i>NUS CS5340: Probabilistic Graphical Models (Prof. Harold Soh)</li>
<li><i class="icofont-rounded-right"></i>NUS CS5242: Neural Networks and Deep Learning (Prof. Yang You)</br></li>
<li><i class="icofont-rounded-right"></i>Berkeley CS294: Geometry and Learning for 3D Vision (Prof. Yi Ma)</li>
<li><i class="icofont-rounded-right"></i>HIT AUTO2012: Introduction to Machine Learning </li>
</ul>
</div>
<div class="col-lg-12 pt-1 pt-lg-0 content"><h3>Control:</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>Berkeley EE291E: Hybrid System and Intelligent Control (Prof. S. Shankar Sastry)</li>
<li><i class="icofont-rounded-right"></i>Berkeley ME232: Advanced Control Systems (Prof. Kameshwar Poolla)</li>
<li><i class="icofont-rounded-right"></i>Berkeley EE220C: State Estimation and Optimal Control (Prof. Mark Mueller)</li>
<li><i class="icofont-rounded-right"></i>Berkeley EE128: Feedback Control System (Prof. Ronald Fearing)</li>
</ul>
</div>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Robotics:</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>NUS CS6244: Using Language Models in Visual Perception (Prof. Angela Yao)</br></li>
<li><i class="icofont-rounded-right"></i>Berkeley EECS106B: Robotic Manipulation and Interaction (Prof. Ruzena Bajcsy, Prof. S. Shankar Sastry)</li>
<li><i class="icofont-rounded-right"></i>Berkeley ME102B: Mechatronics Design (Prof. Hannah Stuart)</li>
<li><i class="icofont-rounded-right"></i>HITSZ AUTO2004: Design and Practice of Robotic System</li>
</ul>
</div>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Theoretical:</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>NUS CS5461: Algorithmic Mechanism Design (Prof. Warut Suksompong)</li>
<li><i class="icofont-rounded-right"></i>NUS CS6235: Mathematical Toolkit for CS Theory Research. (Prof. Jonathan Scarlett)</li>
<li><i class="icofont-rounded-right"></i>Berkeley E231: Mathematical Methods in Engineering. (Prof. Andrew Packard, Prof. Murat Arcak, Prof. Mark Mueller)</li>
<li><i class="icofont-rounded-right"></i>HIT MATH1009: Advanced Linear Algebra I, II (张贤科)</li>
<li><i class="icofont-rounded-right"></i>HIT MATH1010: Mathematical Analysis I, II, III (严质彬)</li>
<li><i class="icofont-rounded-right"></i>HIT EMEC1002: Theoretical Mechanics</li>
</ul>
</div>
</div>
</section>
<!-- ======= Services Section ======= -->
<section id="misc" class="misc">
<div class="misc container">
<div class="section-title">
<h2>Misc</h2>
</div>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Email</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<p>
The best way to reach me is via email:
<br>
anxingxiao [at] gmail.com (Primary)
<!-- <br>
anxingxiao [at] u.nus.edu. (Academic) -->
<br>
anxingx [at] comp.nus.edu.sg (Research)
</p>
</div>
<p></p><p></p>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Join us</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<p>
If you are interested in working with our research project in NUS or Tsinghua SIGS, please send me the email with CV and research interests.
<br>
For the students who are already in Singapore, you can also dirct apply the research intern through <a href="https://ssi.nus.edu.sg/#joinus">https://ssi.nus.edu.sg/#joinus</a>.
</p>
</div>
<p></p><p></p>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Office</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<p>
You can often find me at:
<br>
Innovation 4.0, #06-01C, 3 Research Link, Singapore 117602
</p>
</div>
<p></p><p></p>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Links</h3></div>
<div class="col-lg-12 pt-1 pt-lg-0 content">
<ul>
<li><i class="icofont-rounded-right"></i>
<a href="https://adacomp.comp.nus.edu.sg/"> Adaptive Computing Laboratory at National University of Singapore </a>
</li>
<li><i class="icofont-rounded-right"></i>
<a href="https://www.comp.nus.edu.sg/cs/"> Department of Computer Science at National University of Singapore </a>
</li>
<li><i class="icofont-rounded-right"></i>
<a href="https://ssi.nus.edu.sg/#about"> Smart Systems Institute at National University of Singapore </a>
</li>
<!-- <li><i class="icofont-rounded-right"></i>
<a href="https://hybrid-robotics.berkeley.edu/index.html"> Hybrid Robotics Group at University of Califonia, Berkeley </a>
</li> -->
</ul>
</div>
<p></p><p></p>
<div class="col-lg-12 pt-0 pt-lg-0 content"><h3>Interesting Course Projects</h3></div>
<p></p><p></p>
<div class="row">
<div class="col-lg-3 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/visualprompting.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-9 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>Zero-shot Manipulation with Visual Prompting</h4>
<p class="font-italic">
<strong>
<em >NUS CS5242 Neural Network and Deep Learning</em>
</strong> <font size= "3pt"> (with Kaixin Li, Hao Luan, Yihang Wu)</font>
</p>
<p>
<font size="4pt" >
We leverage Vision-Language Models (VLMs) for planning, perception, and reasoning in open-vocabulary robotic manipulation tasks by applying visual prompting for object- and action-level grounding. Our system integrates object grounding, code generation for planning, and open action execution, enabling the robotic system to perform complex, language-based manipulation tasks in real-world environments. </font>
<br>
</p>
</div>
</div>
<p></p><p></p> <br>
<div class="row">
<div class="col-lg-3 pt-lg-2">
<!--<div class="col-lg-4" data-aos="fade-right">-->
<img src="assets/img/demo/gsmanipulation.gif" class="img-fluid" alt="">
</div>
<div class="col-lg-9 pt-4 pt-lg-0 content">
<!--<div class="col-lg-8 pt-4 pt-lg-1 content" data-aos="fade-left">-->
<h4>3D Language Gaussians for Zero-shot Robotic Grasping</h4>
<p class="font-italic">
<strong>
<em >NUS CS6244 Advanced Topics in Robotics</em>
</strong> <font size= "3pt">(with Yuhong Deng, Jian Zhang)</font>
</p>
<p>