My goal is to develop learning and planning algorithms that enable autonomous robots to perform service tasks in home environments. Here are some of the topics I am interested in: 1) Learning for integrated task and motion planning. 2) Foundation models for long-horizon decision making. 3) Coordinated whole-body motion generation. 4) Multimodal and interactive robot perception. Please feel free to reach out if you want to chat :)
SLAP: Spatial-Language Attention Policies
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, and Chris Paxton
Conference on Robot Learning (CoRL), 2023
[Paper] [Project Webpage] [Code]
Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds
Yan Ding, Xiaohan Zhang, Saeid Amiri, Nieqing Cao, Hao Yang, Andy Kaminski, Chad Esselink, and Shiqi Zhang
Autonomous Robots Journal (AURO), 2023
[Paper] [Project Webpage]
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuqian Jiang, Yuke Zhu, Peter Stone, and Shiqi Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
[Paper] [Video]
Task and Motion Planning with Large Language Models for Object Rearrangement
Yan Ding*, Xiaohan Zhang*, Chris Paxton, and Shiqi Zhang (*Equal Contribution)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
[Paper] [Project Webpage] [Short Paper]
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
Bo Liu*, Yuqian Jiang*, Xiaohan Zhang, Qiang Liu, Shiqi Zhang, Joydeep Biswas, and Peter Stone (*Equal Contribution)
ArXiv, 2023
[Preprint] [Code]
Grounding Classical Task Planners via Vision-Language Models
Xiaohan Zhang, Yan Ding, Saeid Amiri, Hao Yang, Andy Kaminski, Chad Esselink, and Shiqi Zhang
ICRA Workshop on Robot Execution Failures and Failure Management Strategies, 2023
[Paper]
Multimodal Embodied Attribute Learning by Robots for Object-Centric Action Policies
Xiaohan Zhang, Saeid Amiri, Jivko Sinapov, Jesse Thomason, Peter Stone, and Shiqi Zhang
Autonomous Robots Journal (AURO), 2023
[Paper] [Project Webpage] [Springer Nature Official]
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization (Covered by Google AI Blog)
Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, and Montserrat Gonzalez
IEEE International Conference on Robotics and Automation (ICRA), 2023
[Paper] [Video] [Blog Post]
GLAD: Grounded Layered Autonomous Driving for Complex Service Tasks
Yan Ding, Cheng Cui, Xiaohan Zhang, and Shiqi Zhang
ArXiv, 2022
[Preprint] [Project Webpage]
Learning to Ground Objects for Robot Task and Motion Planning
Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang
IEEE Robotics and Automation Letters (RA-L), 2022
[Paper] [Project Webpage]
Visually Grounded Task and Motion Planning for Mobile Manipulation
Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, and Shiqi Zhang
IEEE International Conference on Robotics and Automation (ICRA), 2022
[Paper] [Project Webpage]
Learning to Guide Human Attention on Mobile Telepresence Robots with 360 Vision
Kishan Chandan, Jack Albertson, Xiaohan Zhang, Xiaoyang Zhang, Yao Liu, and Shiqi Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
[Paper] [Project Webpage] [Short Paper]
Planning Multimodal Exploratory Actions for Online Robot Attribute Learning (Invited to Autonomous Robots Special Issue)
Xiaohan Zhang, Jivko Sinapov, and Shiqi Zhang
Robotics: Science and Systems (RSS), 2021
[Paper] [Project Webpage] [Short Paper]
Task-Motion Planning for Safe and Efficient Urban Driving
Yan Ding, Xiaohan Zhang, Xingyue Zhan, and Shiqi Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
[Paper] [Project Webpage]
