Wei-Cheng Huang (黃韋程)

This is Wei-Cheng (Rory) Huang. I am currently a Ph.D. Student in Computer Science working on Robotics at the University of Illinois Urbana-Champaign. I am interested in robotic manipulation, especially in scenarios where robots need to frequently interact with the surrounding environment, utilizing contact interactions to achieve diverse manipulation skiils. Therefore, I hope to leverage tools and techniques in physics models, numerical optimization and machine learning to develop principle-based planning and control algorithms, for decision making under hybrid and multi-modal contact dynamics. I am currently working in the Intelligent Motion Lab (IML) and advised by Professor Kris Hauser.

Before joining UIUC, I obtained my Master of Science in Engineering degree in Robotics from the General Robotics, Automation, Sensing and Perception (GRASP) Laboratory, at the University of Pennsylvania. I was fortunate to be a member of Dynamic Autonomy and Intelligent Robotics (DAIR) Lab and advised by Professor Michael Posa. I conducted research project focusing on physics-based hybrid residual learning for real-time adaptive contact-implicit model predictive control in robotic manipulation.

More Bio Info I obtained my Bachelor of Engineering degree in Mechanical Engineering from the Honorary Pilot Class in Shanghai Jiao Tong University, where I worked in Soft Robotics and Biodesign (SRB) Lab with Professor Guoying Gu.

                       

Education

  • Ph.D. student in Computer Science, University of Illinois Urbana-Champaign (Urbana, IL), 2024-present


  • M.S.E. in Robotics, University of Pennsylvania (Pennsylvania, PA), 2022-2024
    • GPA: 4.0 / 4.0

  • B.E. in Mechanical Engineering, Shanghai Jiao Tong University (Shanghai, China), 2018-2022
    • GPA: 3.9 / 4.0, Ranking: 1 / 219 in ME department
    Minor: B.BA. in Business Administration, Operation Research Track

Research Projects and Publications

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang*, Alp Aydinoglu*, Wanxin Jin, and Michael Posa
Accepted to 2024 International Conference on Robotics and Automation (ICRA)
[PDF]/ [Publisher]/ [Video]/ [Webpage]
More demos
Rolling irregular shaped lime with
rough sphere model		 Adaptation enable robust manipulation
under unpredictable motion		 Online learning and fixing inaccurate model with few push trials

Consensus Complementarity Control for Multi-Contact MPC
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, and Michael Posa
Accepted to IEEE Transactions on Robotics (T-RO), 2024
[PDF]/ [Publisher]/ [Video]
More demos
Stabilizing cartpole with soft wall Rolling three balls in real time Pivoting 2D cube with finger gaiting

Low-Resistance, High-Force, and Large-ROM Fabric-Based Soft Elbow Exosuits with Adaptive Mechanism and Composite Bellows
Wei-Cheng Huang*, Miao Feng*, Dezhi Yang and Guoying Gu
Science China Technological Sciences 66.1 (2023): 24-32
[PDF]/ [Publisher]

Robotics Projects

Multi-robot system formation control Vison-based fruit pick-and-place with penumatic soft gripper Residual learning for bipedal locomotion on rough terrain Trajectory planning and control of autonomous VIO-based quadrotor