Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators. - Zhian Kuang; Liting Sun; Xiang Zhang 020; Huijun Gao; Masayoshi Tomizuka (ACC, 2021)

Safe Online Gain Optimization for Variable Impedance Control. - Changhao Wang; Zhian Kuang; Xiang Zhang 020; Masayoshi Tomizuka (CoRR, 2021)

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. - Yu Sun; Wyatt Ubellacker; Wen-Loong Ma; Xiang Zhang 020; Changhao Wang; Noel Csomay-Shanklin; Masayoshi Tomizuka; Koushil Sreenath; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks. - Xiang Zhang 020; Liting Sun; Zhian Kuang; Masayoshi Tomizuka (IEEE Robotics Autom. Lett., 2021)

Safe Online Gain Optimization for Cartesian Space Variable Impedance Control. - Changhao Wang; Xiang Zhang 020; Zhian Kuang; Masayoshi Tomizuka (CASE, 2022)

Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks. - Xiang Zhang 020; Shiyu Jin; Changhao Wang; Xinghao Zhu; Masayoshi Tomizuka (ICRA, 2022)

Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks. - Changhao Wang; Yuyou Zhang; Xiang Zhang 020; Zheng Wu 002; Xinghao Zhu; Shiyu Jin; Te Tang; Masayoshi Tomizuka (IEEE Robotics Autom. Lett., 2022)

Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning. - Xiang Zhang 020; Changhao Wang; Lingfeng Sun; Zheng Wu 002; Xinghao Zhu; Masayoshi Tomizuka (CoRL, 2023)

Learning Generalizable Pivoting Skills. - Xiang Zhang 020; Siddarth Jain; Baichuan Huang; Masayoshi Tomizuka; Diego Romeres (ICRA, 2023)

Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance. - Joo-Hwan Seo; Nikhil Potu Surya Prakash; Xiang Zhang 020; Changhao Wang; Jongeun Choi; Masayoshi Tomizuka; Roberto Horowitz (CoRR, 2023)

Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion. - Xiang Zhang 020; Masayoshi Tomizuka; Hui Li 009 (ICRA, 2024)

Harnessing with Twisting: Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task. - Xiang Zhang 020; Hsien-Chung Lin; Yu Zhao 015; Masayoshi Tomizuka (IROS, 2024)

In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing. - Mingrui Yu; Boyuan Liang; Xiang Zhang 020; Xinghao Zhu; Lingfeng Sun; Changhao Wang; Shiji Song; Xiang Li 009; Masayoshi Tomizuka (IROS, 2024)

In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing. - Mingrui Yu; Boyuan Liang; Xiang Zhang 020; Xinghao Zhu; Xiang Li 009; Masayoshi Tomizuka (CoRR, 2024)

Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control. - Joohwan Seo; Nikhil Potu Surya Prakash; Xiang Zhang 020; Changhao Wang; Jongeun Choi; Masayoshi Tomizuka; Roberto Horowitz (IEEE Robotics Autom. Lett., 2024)

EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks. - Joohwan Seo; Arvind Kruthiventy; Soomi Lee; Megan Teng; Xiang Zhang 020; Seoyeon Choi; Jongeun Choi; Roberto Horowitz (CoRR, 2025)