Xuanbin Peng 彭宣滨
Email: xuanbin.peng[at]gmail.com
Office: Jacobs 4511
I am currently a research assistant at University of California, San Diego (UCSD) advised by Prof. Xiaolong Wang.
My research interest lies in the intersection of robotics, perception, planning, reasoning, and decision-making, with their application in complex, real-world environments.
While immersed in the academic field, I also appreciate letting loose by playing basketball and table tennis during my spare time. Furthermore, philosophy and poetry also interest me a lot.
I remain open and eager to collaborate with like-minded individuals to discover the potential and possibilities of robotics across various fields.
Research
My current research interest lies in the intersection of deep reinforcement learning, computer vision and robotics. My long-term goal is to develop intelligent robots that can infer and interact with the dynamic and open world in long-horizon tasks.
RTTF: Rapid Tactile Transfer Framework for Contact-Rich Manipulation Tasks
Qiwei Wu, Xuanbin Peng, Zhouran Sun, Xiaogang Xiong and Yunjiang Lou
Our framework achieves robust tactile servo control through semi-supervised sim2real transfer and end-to-end privileged learning, enabling improved data efficiency and rapid adaptation across diverse tasks.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024.
Accepted, Oral Presentation
Whole-body Compliance Control for Quadruped Manipulator with Actuation Saturation of Joint Torque and Ground Friction
Tianlin Zhang, Xuanbin Peng, Fenghao Lin, Xiaogang Xiong, and Yunjiang Lou
Deploying Model Predictive Control and Whole Body Control (MPC-WBC) for compliance and robustness in whole-body control of a quadruped manipulator.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024.
Accepted, Oral Presentation
Selected Projects
Dynamic Programming for Autonomous Navigation in a Door-Key Environment
This project explores using dynamic programming within a Markov Decision Process framework to navigate an autonomous agent efficiently towards a goal in a Door-Key environment. The system optimally handles doors that may require unlocking with keys located within the environment.
[Code]
Visual-Inertial SLAM Based on Extended Kalman Filter (EKF)
This project implements a Visual-Inertial SLAM system using stereo-camera and IMU data to estimate both the environment layout and the robot's position. It leverages Extended Kalman Filter (EKF) to fuse IMU-based odometry with visual cues, and uses a Lie-Group manifold for robot pose and landmark joint-updates. A recall buffer optimizes Jacobians matrix computation, achieving accurate, near real-time mapping and localization.
[Code]
A Versatile Whole-body Mobile Manipulation with Flexible Grasping
The robot won the National Frist Prize in RoboMaster 2022 Robotics Contest.
- Whole-body control for mobile manipulation to fully extend its workspace
- Versatile robot for multi-task skillset, like dragging, fetching and grasping.
- Robust Model-based Autonomous grasping for diverse objects.
Selected Awards and Honors
- National Scholarship. (Ranking 1st-0.3%)2022
- National First Prize in RoboMaster 2022 Robotics Contest.2022
Academic Services
Journal Reviewer:
- IEEE Robotics and Automation Letters (RAL), 2024
Hi~
A wonderful conversation with Professor A. Simmons on the topic of the Philosophy of Perception and Knowledge at Harvard University! Afterward, we took a photo together.
This is a photo of me and Professor H.Georgi together, taken after having a conversation about "the particle symmetry problem in the Big Bang" at Harvard.
Unforgettable Moment: This is me, on the stage of New Year's Eve, standing alongside a group of like-minded friends who share my passion.
I won the champion of the Speech Final!
I gave a talk on climate change with the aim of raising awareness and inspiring even the slightest tangible actions among individuals. The talk received widespread acclaim and recognition.
This is me playing basketball. I have always admired Kobe Bryant and his 'Black Mamba Spirit'!
