Yuheng Zhi

Yuheng Zhi Yǔ Héng Chíh

PhD Candidate

UC San Diego

Biography

I am a final year PhD candidate in Robotics at UC San Diego, advised by Prof. Michael Yip.

I am interested in discovering efficient and scalable computation paradigms for robots that understand diverse task specifications and generate intelligent, dexterous, and reliable motions under uncertainty.

Interests
  • Motion Generation
  • Trajectory Optimization
  • Vision-Language-Action Paradigms
  • Reinforcement Learning
Education

  • PhD Electrical and Computer Engineering, 2020 - Present

    University of California, San Diego

  • BSc Computer Science, 2015 - 2019

    Shanghai Jiao Tong University

Publications

Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Visual Feedback in Telesurgery
ICRA 2019
Florian Richter, Yifei Zhang, Yuheng Zhi, Ryan K Orosco, Michael C Yip
Cite Video Paper
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Visual Feedback in Telesurgery
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
RA-L 2022
Mrinal Verghese, Nikhil Das, Yuheng Zhi, Michael Yip
Cite Video Paper
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-Class Labels for Safety-Aware Trajectory Optimization
T-RO 2022
Yuheng Zhi, Nikhil Das, Michael Yip
Cite Code Video Paper
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-Class Labels for Safety-Aware Trajectory Optimization
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
IROS 2023
Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi, Nikhil Shinde, Michael C Yip
Cite Video Paper
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
IROS 2024
Nikhil U Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia Herbert, Michael C Yip
Cite Video Paper
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
In Submission
Yun-Jie Ho, Zih-Yun Chiu, Yuheng Zhi, Michael C Yip
Cite Paper
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
In Submission
Soofiyan Atar, Yuheng Zhi, Florian Richter, Michael Yip
Cite Paper
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
See all publications

Experience

 
 
 
 
 
UC San Diego
Graduate Student Researcher
January 2020 – Present
Supervisor: Prof. Michael Yip
 
 
 
 
 
Amazon Robotics
Applied Scientist Intern
July 2023 – December 2023
Supervisor: Dr. Jane Shi, Mentor: Dr. Fan Wang
 
 
 
 
 
TuSimple Inc.
Research Intern
October 2019 – December 2019
Supervisor: Dr. Naiyan Wang, Mentor: Dr. Feng Wang
 
 
 
 
 
SenseTime Group Limited
Research Intern
February 2019 – July 2019
Supervisor: Dr. Hongwei Qin
 
 
 
 
 
Shanghai Jiao Tong University
Undergraduate Student Researcher
September 2017 – June 2018
Supervisor: Prof. Bingbing Ni

Skills

Programming Languages

Python, C++, Cython, Matlab

Computation

PyTorch, JAX, Warp

Learning & Robotics

cuRobo, Issac Sim, IssacLab, FCL, OMPL, ROS, PyBullet, MuJoCo, CoppeliaSim, Stable Baselines, HuggingFace

Hobbies

Espresso & Pour-over Coffee Brewing