Robotics PhD at UMich
I am a PhD student of Robotics Department at University of Michigan (UMich), where I work on legged robot control and learning with professor Yanran Ding and previously collaborated with Dr. Maani Ghaffari and Dr. Elena Shrestha. Prior to that, I received my bachelor degree from Southern University of Science and Technology (SUSTech), majoring in Robotics Engineering. Advised by professor Wei Zhang, I had a great research experience on MPC and RL of quadruped robots.
I am particularly interested in agile legged locomotion in dynamic environments, with a focus on control and learning methods, and proficient in developing efficient and deployable robotic algorithms. When I'm not immersed in technology, you can find me swimming or playing badminton.
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Research Assistant
Aug. 2022 - Present, University of Michigan, Ann Arbor, MI, US |
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Software Engineer Intern on Motion Planning
May 2023 - Aug. 2023, PlusAI Inc., Santa Clara, CA, US |
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Visiting Student
Aug. 2021 - Sep. 2021, National University of Singapore, Singapore |
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Research Intern
Jun. 2021 - Jul. 2021, Tsinghua University, Beijing, China |
![]() Hierarchical RL for MPC of Quadruped Locomotion
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![]() Motion Planning Practice
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![]() Dynamic Object Removing SLAM with MonoRec
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![]() Single-Image to Camera Pose with iNeRF and PoseCNN
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Autonomous SLAM and Exploration with MBot
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![]() Robust Detecting and Palletizing with Robot Arm
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Sense, Imagine, Act: Multimodal Perception Improves Model-Based
Reinforcement Learning for Head-to-Head Autonomous Racing
arXiv:2305.04750
Shrestha, E., Reddy, C., Wan, H., Zhuang, Y., & Vasudevan, R.
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Multimodal Dreamer
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We present a multimodal perception system combining egocentric LiDAR and RGB camera improves robustness of the world model without requiring additional training data. The resulting multimodal Dreamer agent safely avoided collisions and won the most races compared to other tested baselines in zero-shot head-to-head autonomous racing. |
Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots
International Conference on Advanced Robotics and Mechatronics. IEEE. 2021
Zhuang, Y., Xu, Y., ... & Fu, C.
![]() We present a wheeled-bipedal jumping dynamical (W-JBD) model to optimize the height control, and the Bayesian optimization for torque planning (BOTP) method based on a joint optimization framework for torque planning to achieve accurate height control and minimal energy cost. |
Wheeled-Bipedal Robot
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China Patent CN112977666A Jun 2021
W. Zhang, Y. Zhuang, et al.
Connecting Structure and Multi-Hull Ship
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China Patent CN212637810U Mar 2021
Y. Zhuang, W. Zhang, et al.
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University of Michigan, US
Aug. 2024 - Present, Ph.D. in Robotics |
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University of Michigan, US
Aug. 2022 - May 2024, Master of Science in Robotics |
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Southern University of Science and Technology, China
Sep. 2018 - Jun. 2022, Bachelor of Engineering in Robotics |