诸怀疆 | Huaijiang Zhu

I am a PhD student at the New York University Tandon School of Engineering, advised by Prof. Ludovic Righetti at the Machines in Motion Laboratory. Prior to joining NYU Tandon, I received my bachelor’s and master’s degree in Electrical Engineering from the Technical University of Munich, Germany.

My research interests include machine learning, trajectory optimization, and their applications to robotics. In particular, I develop algorithms allowing robots to robustly apply contact forces to the external world, so that they can move freely and operate safely among us.

publications

  1. Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
    Zhu, Huaijiang, Zhao, Tong, Ni, Xinpei, Wang, Jiuguang, Fang, Kuan, Righetti, Ludovic, and Pang, Tao
    Under Review 2024
    Video
  2. Diffusion-Based Learning of Contact Plans for Agile Locomotion
    Dhédin, Victor, Chinnakkonda Ravi, Adithya Kumar, Jordana, Armand, Zhu, Huaijiang, Meduri, Avadesh, Righetti, Ludovic, Schölkopf, Bernhard, and Khadiv, Majid
    In 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2024
    arXiv Video
  3. Efficient Object Manipulation Planning with Monte Carlo Tree Search
    Zhu, Huaijiang, Meduri, Avadesh, and Righetti, Ludovic
    In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
    Best Paper Award Finalist on Mobile Manipulation
    arXiv Code Website
  4. Learning Locomotion Skills from MPC in Sensor Space
    Khadiv, Majid, Meduri, Avadesh, Zhu, Huaijiang, Righetti, Ludovic, and Schölkopf, Bernhard
    5th Annual Learning for Dynamics & Control Conference (L4DC) 2023
    Website
  5. MPC with Sensor-Based Online Cost Adaptation
    Meduri, Avadesh, Zhu, Huaijiang, Jordana, Armand, and Righetti, Ludovic
    2023 IEEE International Conference on Robotics and Automation (ICRA) 2023
    arXiv
  6. Enabling Remote Whole-Body Control with 5G Edge Computing
    Zhu, Huaijiang, Sharma, Manali, Pfeiffer, Kai, Mezzavilla, Marco, Shen, Jia, Rangan, Sundeep, and Righetti, Ludovic
    In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    arXiv
  7. Legible Action Selection in Human-Robot Collaboration
    Zhu, Huaijiang, Gabler, Volker, and Wollherr, Dirk
    In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2017
    PDF