Gu Zhang

I am an incoming Ph.D. student in Computer Science at Institute for Interdisciplinary Information Sciences (IIIS), Tsinghua University under the supervision of Prof. Huazhe Xu.

Currently, I am an undergraduate in Artificial Intelligence Class at Shanghai Jiao Tong University (SJTU) with GPA ranking 1/88. My research interest mainly lie in robotics and machine learning, with a particular focus on robotic manipulation and multisensory learning.

During my undergraduate study, I am fortunate to be mentored by Prof. Cewu Lu and Prof. Junchi Yan. I am also a research visiting student/visitor at Massachusetts Institute of Technology and MIT-IBM Watson AI Lab under the supervision of Prof. Josh Tenenbaum and Prof. Chuang Gan.

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News

  • [Jan. 2024]:One paper ArrayBot was accepted by ICRA 2024.
  • [Jan. 2024]:Two papers were accepted by ICLR 2024, one is spotlight.
  • [Sep. 2023]:One paper was accepted by NeurIPS 2023.
  • [Jun. 2023]:One paper Flexible Handover was accepted by IROS 2023.
  • [Apr. 2023]:One paper IOT-CL was accepted by ICML 2023.

Publications

* indicates equal contributions.

clean-usnob DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
Zilin Si*, Gu Zhang*, Qingwei Ben*, Branden Romero, Xian Zhou, Chao Liu and Chuang Gan
International Conference on Learning Representations (ICLR), 2024
project page / paper coming soon

In this paper, we introduce DIFFTACTILE, a physics-based and fully differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically-accurate tactile feedback.

clean-usnob Flexible Handover with Real-Time Robust Dynamic Grasp Trajectory Generation
Gu Zhang, Hao-shu Fang, Hongjie Fang and Cewu Lu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
paper

In this paper, we propose an approach for effective and robust flexible handover, which enables the robot to grasp moving objects with flexible motion trajectories with a high success rate.

clean-usnob Thin-Shell Object Manipulations With Differentiable Physics Simulations
Yian Wang*, Juntian Zheng*, Zhehuan Chen, Xian Zhou, Gu Zhang, Chao Liu, and Chuang Gan
International Conference on Learning Representations (ICLR), 2024 [Spotlight]
paper coming soon

In this paper, we introduce ThinShellLab, a fully differentiable simulation platform tailored for diverse thin-shell material interactions with varying properties.

clean-usnob ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch
Zhengrong Xue*, Han Zhang*, Jingwen Chen, Zhengmao He, Yuanchen Ju, Changyi Lin, Gu Zhang, and Huazhe Xu
International Conference on Robotics and Automation(ICRA), 2024
project page / paper

In this paper, we present ArrayBot, a distributed manipulation system consisting of a 16×16 array of vertically sliding pillars integrated with tactile sensors, which can simultaneously support, perceive, and manipulate the tabletop objects.

clean-usnob Understanding and Generalizing Contrastive Learning from the Inverse Optimal Transport Perspective
Liangliang Shi, Gu Zhang, Haoyu Zhen, and Junchi Yan
International Conference on Machine Learning (ICML), 2023
paper

In this paper, we aim to understand CL with a collective point set matching perspective and formulate CL as a form of inverse optimal transport (IOT).

clean-usnob Relative Entropic Optimal Transport: a (Prior-aware) Matching Perspective to (Unbalanced) Classification
Liangliang Shi, Haoyu Zhen, Gu Zhang, and Junchi Yan
Conference on Neural Information Processing Systems (NeurIPS), 2023
paper

In this paper, we propose a new variant of optimal transport, called Relative Entropic Optimal Transport (RE-OT) and verify its effectiveness for inhancing visual learning.

Selected Awards and Honors

  • 2023: SenseTime Scholarship (Top30 undergraduate AI researchers nationwide, ¥20000 RMB)
  • 2023: Shanghai Scholarship (Top 0.2% Shanghai, ¥8000 RMB)
  • 2022: National Scholarship (Top 0.2% nationwide, ¥8000 RMB)
  • 2022: Hanying Juhua Scholarship (Top 15 winners in Zhiyuan Honor College, ¥15000 RMB)
  • 2021: National Scholarship (Top 0.2% nationwide, ¥8000 RMB)
  • 2021, 2022: A-level Merit Scholarship (Top 1% SJTU, ¥1500 RMB)
  • 2021, 2022: Merit Student (Top 5% SJTU)
  • 2020, 2021, 2022, 2023: Zhiyuan Honor Scholarship (Top 5% SJTU, ¥5000 RMB)

Academic Performance

  • GPA: 94.47/100 (or 4.12/4.3), Rank 1/88
  • Achieved A+ in more than 30 Courses.

Service

  • Reviewer: IJCAI 2024

Design and source code from Jon Barron's website.