Xuxin Chengxuxinc [at] cs.cmu.edu I am a M.S. in Robotics student at CMU advised by Deepak Pathak. I also work with Prof. Koushil Sreenath at UC Berkeley. I received my B.S. from Beijing Institute of Technology (BIT). During my undergrad, I worked on Reinforcement Learning based ADAS (Advanced Driver-Assistance Systems) advised by Prof. Ching-Yao Chan at Berkeley PATH. I love snowboarding 🏂 and scuba diving 🤿 in my free time, checkout more here. CV | GitHub | Google Scholar | Twitter |
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Research
* denotes equal contribution
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Legs as Manipulator: Pushing Quadrupedal Agility Beyond LocomotionXuxin Cheng, Ashish Kumar, Deepak Pathak ICRA 2023 Webpage | arXiv | Video | Media | BibTeX |
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Deep Whole-Body Control: Learning a Unified Policy for Manipulation and LocomotionZipeng Fu*, Xuxin Cheng*, Deepak Pathak CoRL 2022 (Oral, Best System Paper Finalist) Webpage | arXiv | Video | Media | BibTeX |
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Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal RobotsZhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath ICRA 2021 Webpage | arXiv| IEEE | Video | BibTeX |
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Automated Lane Change Strategy using Deep Reinforcement LearningFei Ye*, Xuxin Cheng*, Pin Wang, Ching-Yao Chan Intelligent Vehicles Symposium (IV) 2020 arXiv | IEEE | BibTeX |
Course Projects
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Learning Precise Foot Placement Skills with HZD-based Gait Library for Legged RobotsCS285 Deep Reinforcement Learning
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Computer Vison and Computational PhotographyCS194 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. |
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Development of Spherical RobotME102B Mechatronics Design (Fall 2020) Completed mechanical design in Solidworks; Made parts of the robot by 3d printing and laser cut; Installed electronic components with proper specifications and assembled the robot; Designed control algorithm using PD controller and Kalman Filter to balance the robot. |
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Campus Life Planner and NavigatorIntroduction 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". |
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Development of maze RobotIntelligent Robots (Spring 2019) [Video] Utilizing ultrasonic sensors and infrared proximity sensors, we developed an algorithm for finding the exit of a maze. |
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Traversability Analysis in Field Environments Using Deep Inverse Reinforment Learning[Code] In this project we presented an approach to learn cost maps for traversable area extraction from human demonstration using Deep Inverse Reinforcement Learning, bypassing the effort of manual labeling. |