Xiang Zhang

24 papers A* 3A 2C 1Misc 1Journal 16Unranked 1
YearRankTypeTitle / Venue / Authors
2025 J jnl
EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks.
CoRR
Joohwan Seo, Arvind Kruthiventy, Soomi Lee, Megan Teng, Xiang Zhang, Seoyeon Choi, Jongeun Choi, Roberto Horowitz
2024 A* conf
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion.
ICRA
Xiang Zhang, Masayoshi Tomizuka, Hui Li
2024 J jnl
Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control.
IEEE Robotics Autom. Lett.
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz
2024 A conf
Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task.
IROS
Xiang Zhang, Hsien-Chung Lin, Yu Zhao, Masayoshi Tomizuka
2024 J jnl
Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task.
CoRR
Xiang Zhang, Hsien-Chung Lin, Yu Zhao, Masayoshi Tomizuka
2024 A conf
In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing.
IROS
Mingrui Yu, Boyuan Liang, Xiang Zhang, Xinghao Zhu, Lingfeng Sun, Changhao Wang, Shiji Song, Xiang Li, Masayoshi Tomizuka
2024 J jnl
In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing.
CoRR
Mingrui Yu, Boyuan Liang, Xiang Zhang, Xinghao Zhu, Xiang Li, Masayoshi Tomizuka
2023 J jnl
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion.
CoRR
Xiang Zhang, Masayoshi Tomizuka, Hui Li
2023 Misc conf
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning.
CoRL
Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka
2023 J jnl
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning.
CoRR
Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka
2023 A* conf
Learning Generalizable Pivoting Skills.
ICRA
Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, Diego Romeres
2023 J jnl
Learning Generalizable Pivoting Skills.
CoRR
Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, Diego Romeres
2023 J jnl
Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance.
CoRR
Joo-Hwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz
2022 A* conf
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks.
ICRA
Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, Masayoshi Tomizuka
2022 J jnl
Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks.
IEEE Robotics Autom. Lett.
Changhao Wang, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang, Masayoshi Tomizuka
2022 J jnl
Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks.
CoRR
Changhao Wang, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang, Masayoshi Tomizuka
2022 — conf
Safe Online Gain Optimization for Cartesian Space Variable Impedance Control.
CASE
Changhao Wang, Xiang Zhang, Zhian Kuang, Masayoshi Tomizuka
2021 C conf
Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators.
ACC
Zhian Kuang, Liting Sun, Xiang Zhang, Huijun Gao, Masayoshi Tomizuka
2021 J jnl
Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators.
CoRR
Zhian Kuang, Xiang Zhang, Liting Sun, Huijun Gao, Masayoshi Tomizuka
2021 J jnl
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks.
CoRR
Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, Masayoshi Tomizuka
2021 J jnl
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks.
CoRR
Xiang Zhang, Liting Sun, Zhian Kuang, Masayoshi Tomizuka
2021 J jnl
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks.
IEEE Robotics Autom. Lett.
Xiang Zhang, Liting Sun, Zhian Kuang, Masayoshi Tomizuka
2021 J jnl
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion.
IEEE Robotics Autom. Lett.
Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames
2021 J jnl
Safe Online Gain Optimization for Variable Impedance Control.
CoRR
Changhao Wang, Zhian Kuang, Xiang Zhang, Masayoshi Tomizuka