Biography

I am a Poctdoc in Georgia Institute of Technology, co-working with Dr. Ye Zhao. I obtained my doctoral degree in robotics at the Department of Robotics, Graduate School of Engineering, Tohoku University, Japan, in 2023. My doctoral advisor was Prof. Mitsuhiro Hayashibe. I got my Master’s and Bachelor’s degrees from Nankai University, China, in 2020 and 2017 respectively. My master advisor was Prof. Yongchun Fang. My research interests include deep reinforcement learning, design and control for snake robots, motion control and planning for legged robots and robotic arms, autonomous navigation in static and dynamic environments.CV. Google Scholar.

Interests
  • deep reinforcement learning (DRL)
  • snake robot, wheeled bipedal robot, quadruped robot, and robotic arm
  • motion planning and navigation
Education
  • PhD in Robotics, 2020.10-2023.9

    Tohoku University advised by Prof. Mitsuhiro Hayashibe

  • MEng in Control Science and Engineering, 2017.9-2020.6

    Nankai University advised by Prof. Yongchun Fang

  • BEng in Intelligent Science and Technology, 2013.9-2017.6

    Nankai University

Skills

english
English

80%

japanese
Japanese

40%

python
Python

95%

tensorflow
TensorFlow

80%

c
C/C++

80%

ros
ROS

80%

Experiences

 
 
 
 
 
Georgia Institute of Technology
Postdoc
Apr 2024 – Present Atlanta, USA

Responsibilities include:

  • reinforcement learning, social navigation, and bipedal robot.
 
 
 
 
 
Jingdong Logistics
Engineer in delivery robot
May 2023 – Mar 2024 Beijing, China

Responsibilities include:

  • Path planning, obstacle avoidance, and robot control for delivery robots.
 
 
 
 
 
Panasonic
Sim-to-real transfer for model-based reinforcement learning methods on robotic arms
May 2022 – Sep 2022 Osaka, Japan

Responsibilities include:

  • Deploy the model-based reinforcement learning method on real robotic arms.
  • Write a paper
 
 
 
 
 
Tohoku University
Motion control and autonomous naviagtion for differential mobile robot and wheeled bipedal robot
Oct 2020 – Sep 2023 Sendai, Japan

Responsibilities include:

  • PID-based controller for balancing keeping
  • DRL-based approach for path tracking
  • DRL-based approach for autonomous navigation in static and dynamic environments
 
 
 
 
 
Nankai University
Design, development and motion control for snake robots
Sep 2016 – Aug 2020 Tianjin, China

Responsibilities include:

  • Mechanical and electronic design for snake robots
  • Embedded singlechip programming
  • Motion control for snake robots
  • Gait generation with reinforcement learning for snake robots

Submissions

Publications

(2024). Learn to Navigate in Dynamic Environments with Normalized LiDAR Scans. In 2024 International Conference on Robotics and Automation (ICRA).

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(2023). Autonomous Navigation System in Pedestrian Scenarios using a Dreamer based Motion Planner. In IEEE Robotics and Automation Letters (RA-L, IF4.3).

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(2022). A Hierarchical Deep Reinforcement Learning Framework with High Efficiency and Generalization for Fast and Safe Navigation. In IEEE Transactions on Industrial Electronics (TIE, IF8.1).

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(2022). Reinforcement Learning based Hierarchical Control for Path Tracking of a Wheeled Bipedal Robot with Sim-to-Real Framework. In 2022 IEEE/SICE International Symposium on System Integration (SII).

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(2021). A Survey of Sim-to-Real Transfer Techniques applied to Reinforcement Learning for Bio-Inspired Robots. In IEEE Transactions on Neural Networks and Learning Systems (TNNLS, IF14.2).

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(2020). A Path-Integral-Based Reinforcement Learning Algorithm for Path Following of an Auto-Assembly Mobile Robot. In IEEE Transactions on Neural Networks and Learning Systems (TNNLS, IF14.2).

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(2020). Reinforcement Learning-based Hierarchical Control for Path Following of a Salamander-like Robot. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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(2020). Development of a Reconfigurable Modular Snake-like Robot and Research on Multiple Motion Modes. In Information and Control.

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(2019). Any Curve Path Following of Snake-like Robots. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO).

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(2019). Guided Motion Planning for Snake-like Robots Based on Geometry Mechanics and HJB Equation. In IEEE Transactions on Industrial Electronics (TIE).

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(2019). A Novel Locomotion Controller Based on Coordination Between Leg and Spine for a Quadruped Salamander-Like Robot. In 2019 12th International Workshop on Robot Motion and Control (RoMoCo).

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(2019). Auto-assembly Modular Robot. In Chinese Patent.

(2019). A Claw-bolt-baffle Mechanism. In Chinese Patent.

(2018). Target-Directed Locomotion of a Snake-Like Robot Based on Path Integral Reinforcement Learning. In Pattern Recognition and Artificial Intelligence.

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(2017). Design of a Modular Snake Robot and Control with Internet of Things. In 2017 Chinese Automation Congress (CAC).

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Contact

  • wzhu328@gatech.edu
  • Georgia Institute of Technology, Atlanta, Georgia, US 30332
  • Manufacturing Related Disciplines Complex (MRDC) 2509