Publications

(*: equal contribution)

[1] Changhao Wang*, Xiang Zhang*, Zhian Kuang*, and Masayoshi Tomizuka. Safe ongo-vic: Safe Online Gain Optimization for Variable Impedance Control. In 2022 IEEE international conference on automation science and engineering (CASE), accepted.

[2] Changhao Wang, Hsien-Chung Lin, Shiyu Jin, Xinghao Zhu, Liting Sun, and Masayoshi TOmizuka. BPOMP: A Bilevel Path Optimization Formulation for Motion Planning. In 2022 American Control Conference (ACC), accepted.

[3] Changhao Wang, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang, and Masayoshi Tomizuka. “Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks.” IEEE Robotics and Automation Letters 7, no. 2 (2022): 5544-5551.

[4] Shiyu Jin, Wenzhao Lian, Changhao Wang, Masayoshi Tomizuka, and Stefan Schaal. “Robotic Cable Routing with Spatial Representation.” IEEE Robotics and Automation Letters 7, no. 2 (2022): 5687-5694.

[5] Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, and Masayoshi Tomizuka. Learning Insertion Primitives with Discrete-continuous Hybrid Action Space for Robotic Assembly Tasks. In 2022 International Conference on Automation and Robotics (ICRA), accepted.

[6] Changhao Wang, Jeffrey Bingham, and Masayoshi Tomizuka. Trajectory splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

[7] Yu Sun, Wyatt L Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel V Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, and Aaron D Ames. Online Learning of Unknown Dynamics for Model-based Controllers in Legged Locomotion. IEEE Robotics and Automation Letters, 6(4):8442–8449, 2021.

[8] Shiyu Jin, Xinghao Zhu, Changhao Wang, and Masayoshi Tomizuka. Contact Pose Identification for Peg-in-hole Assembly under Uncertainties. In 2020 American Control Conference (ACC), 2020.

[9] Shiyu Jin*, Changhao Wang*, and Masayoshi Tomizuka. Robust Deformation Model Approximation for Cable Manipulation. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

[10] Te Tang*, Changhao Wang*, and Masayoshi Tomizuka. A Framework for Manipulating Deformable Linear Objects by Coherent Point Drift. IEEE Robotics and Automation Letters, 3(4):3426–3433, 2018.

[11] Shiyu Jin*, Changhao Wang*, Xinghao Zhu*, Te Tang, and Masayoshi Tomizuka. Real-time State Estimation of Deformable Objects with Dynamical Simulation. In Workshop on Robotic Manipulation of Deformable Objects, 2020.

[12] Xinghao Zhu, Yongxiang Fan, Shiyu Jin, Changhao Wang*, and Masayoshi Tomizuka. Why Does Robotic Dexterous Hand Grasp Fail. In Workshop Why robots fail to grasp, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.