Xuxin Cheng

xucheng [at] ucsd.edu

I am a 2nd year PhD student at UC San Diego advised by Prof. Xiaolong Wang. I earned my M.S. in Robotics at CMU advised by Prof. Deepak Pathak. I also worked with Prof. Koushil Sreenath at UC Berkeley. I am interested in building real-world robot systems.

I love snowboarding 🏂 and scuba diving 🤿 in my free time.

CV | GitHub | Google Scholar | Twitter

News

[06/2024] Invited talk at Covariant
[03/2024] Invited talk at UMich Computer Vision Seminar
[03/2024] Invited talk at TechBeat
[02/2024] Invited talk at Mila Robot Learning Seminar
[01/2024] Invited talk at RL China
[10/2023] Invited talk at Stanford REAL Lab

Research

* denotes equal contribution

	Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu, Zipeng Fu, Xuxin Cheng, Xiaolong Wang, Chelsea Finn Webpage \| arXiv \| Video \| BibTeX
	Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang CoRL 2024 Webpage \| arXiv \| Code \| Video \| Media \| BibTeX
	ACE: A Cross-platform Visual-Exoskeletons for Low-Cost Dexterous Teleoperation Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang CoRL 2024 Webpage \| arXiv \| Code \| Video \| BibTeX
	Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ruihan Yang, Xiaolong Wang CoRL 2024 Webpage \| arXiv \| Code \| Video \| BibTeX
	Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang, Xiaolong Wang RSS 2024 Webpage \| arXiv \| Code \| Video \| BibTeX
	Extreme Parkour with Legged Robots Xuxin Cheng, Kexin Shi, Ananye Agarwal, Deepak Pathak ICRA 2024 CoRL 2023 Generalist / Roboletics / Deployable Workshop (Oral) Webpage \| arXiv \| Code \| Video \| Media \| BibTeX
	Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion Xuxin Cheng, Ashish Kumar, Deepak Pathak ICRA 2023 Webpage \| arXiv \| Video \| Media \| BibTeX
	Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu, Xuxin Cheng, Deepak Pathak CoRL 2022 (Oral, Best System Paper Finalist) Webpage \| arXiv \| Video \| Media \| BibTeX
	Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath ICRA 2021 Webpage \| arXiv\| IEEE \| Video \| BibTeX Media: MIT Tech Review \| TechXplore \| DeepTech \| Inceptive Mind \| Freethink \| Unite.AI \| Singularity Hub
	Automated Lane Change Strategy using Deep Reinforcement Learning Fei Ye, Xuxin Cheng, Pin Wang, Ching-Yao Chan Intelligent Vehicles Symposium (IV) 2020 arXiv \| IEEE \| BibTeX

Course Projects

Learning Precise Foot Placement Skills with HZD-based Gait Library for Legged Robots

CS285 Deep Reinforcement Learning

Computer Vison and Computational Photography

CS194 Image Manipulation, Computer Vision and Computational Photography (Spring 2020)

[Project page] [Code]

In this project collection, I implemented several state-of-the-art algorithms to manipulate photos and videos.

Campus Life Planner and Navigator

Introduction to Software Engineering (Fall 2018)

[Code] [Video]

CLPN-BIT is a Wechat Mini-Program including features of schedule planning and campus navigation inside Beijing Institute of Technology. CLPN stands for "Campus Life Planner and Navigator".

source code credits

Xuxin Cheng

News

Research

Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models

Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

ACE: A Cross-platform Visual-Exoskeletons for Low-Cost Dexterous Teleoperation

Visual Whole-Body Control for Legged Loco-Manipulation

Expressive Whole-Body Control for Humanoid Robots

Extreme Parkour with Legged Robots

Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion

Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Automated Lane Change Strategy using Deep Reinforcement Learning

Course Projects

Learning Precise Foot Placement Skills with HZD-based Gait Library for Legged Robots

Computer Vison and Computational Photography

Campus Life Planner and Navigator