Zhang Yuyou

Yuyou Zhang

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Contact:
yuyouz AT andrew DOT cmu DOT edu

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About Me

I am a second-year Ph.D. student at Safe AI Lab at CMU advised by Prof. Ding Zhao. I worked at IRMV Lab advised by Prof. Hesheng Wang and got my bachelor degree from Shanghai Jiao Tong University in 2022. I also worked with MSC Lab at UC Berkeley in 2021 advised by Prof. Masayoshi Tomizuka.

My research interests lie in the intersection of robotics and machine learning, specifically focusing on developing adaptable and resilient policy for compliant soft robot control and deformable object manipulation.

News and Updates

  • Sep 2023: I passed the qualification and became a PhD candidate
  • Sep 2022: One paper accepted to IEEE T-Mech
  • June 2022: I recieved Zhiyuan Honors Degree and was awarded Shanghai Outstanding Graduates
  • May 2022: One paper accepted to IEEE T-CST

    • Publcations

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    COMPOSER: Scalable and Robust Modular Policies for Snake Robots
    Y. Zhang, Y. Niu, X. Liu, and D. Zhao
    preprint
    Abridged in CoRL 2023 Workshop on Learning for Soft Robots: Hard Challenges for Soft Systems (Spotlight)
    PDF, website

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    Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks
    C. Wang, Y. Zhang, X. Zhang, Z. Wu, X. Zhu, S. Jin, T. Tang, and M. Tomizuka
    IEEE Robotics and Automation Letters (RA-L), 2022
    PDF, website

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    Vision-Based Contact Point Selection for the Fully Non-Fixed Contact Manipulation of Deformable Objects
    L. Han, Y. Zhang, and H. Wang
    IEEE Robotics and Automation Letters (RA-L), 2022
    PDF, demo

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    Hybrid Adaptive Vision-Force Control Under the Bottleneck Constraint
    L. Han, Y. Zhang, and H. Wang
    IEEE Transactions on Control Systems Technology (T-CST), 2022
    PDF, demo

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    Adaptive Visual Servoing Shape Control of A Soft Robot Manipulator Using Bézier Curve Features
    F. Xu, Y. Zhang, S. Jing, H. Wang, and W. Chen
    IEEE Transactions on Mechatronics (T-Mech), 2022
    PDF, demo

    Projects

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    Fruit Collector: Soft Pneumetic Hand Design and Vision-based Grasping
    This skeleton-reinforced soft pneumatic hand designed by topology optimization is capable of picking up a variety of delicate fruits given image input.

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    Consensus-based Distributed Formation Control and Obstacle Avoidance
    These homogeneous turtlebots can choose between different formations to pass through obstacles.

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    Cable Assembly: Ends Detection and Vision-based Manipulation
    An LSTM model trained for cable end detection helps non-calibrated adaptive vision based manipulation when self-occlusion happens.

    Academic Services

  • Conference Reviewer: ICRA 2023, 2024
  • Journal Reviewer: IEEE Transactions on Mechatronics, IEEE Access

    • Teaching

  • TA: 24677 Linear Control Systems, 2023 Fall

    • Coursework

  • 36-700 Probability and Mathematical Statistics: cheatsheet
  • 36-705 Intermediate Statistics: note1
  • 10-725 Convex Optimization: cheatsheet