|
Jiaheng Hu
胡佳恒
Welcome to my homepage! My name is Jiaheng Hu (Jeff). Starting from Fall 2022, I'm a Computer Science PhD student at UT-Austin, fortunate to be co-advised by Professor Peter Stone and Professor Roberto Martín-Martín. My research interest is in Robot Learning and Reinforcement Learning, with a focus on their applications to Mobile Manipulation.
I obtained my M.S. in Robotics at Carnegie Mellon Univeristy in 2022, supervised by Professor Howie Choset; and graduated summa cum laude from Columbia University with a B.S. in Computer Science in 2020.
Email /
Google Scholar /
Twitter /
LinkedIn /
Github
|
|
Talks
- Nov 2024: Towards Building Continually Learning Robot Systems. University of Michigan EECS 542 Guest Lecture
- Oct 2024: FLaRe: Towards Learning Adaptive Robot Policies. Amazon Science Hub Symposium Student Talk
- Aug 2024: Towards Building Continually Learning Robot Systems. University of Washington CSE 163 Guest Lecture
- Aug 2024: Structural Factorization in Robotic Reinforcement Learning. University of Washington Robotics Colloquium
- Jul 2024: Structural Factorization in Robotic Reinforcement Learning. NVIDIA Seattle Robotics Lab
|
|
Publications
*: Equal contribution. †: Equal advising.
|
|
|
FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuning
Jiaheng Hu,
Rose Hendrix,
Ali Farhadi,
Aniruddha Kembhavi,
Roberto Martín-Martín,
Peter Stone,
Kuo-Hao Zeng†,
Kiana Ehsani†
ICRA (under review), 2025
CoRL X-Embodiment Workshop, 2024, Best Paper Finalist
CoRL LLHomeRobots Workshop, 2024, Oral Spotlight
paper /
website /
video
|
|
|
SkiLD: Unsupervised Skill Discovery Guided by Factor Interactions
Zizhao Wang*,
Jiaheng Hu*,
Caleb Chuck*,
Stephen Chen,
Roberto Martín-Martín,
Amy Zhang,
Scott Niekum,
Peter Stone
NeurIPS, 2024
paper /
code /
project page
|
|
|
Disentangled Unsupervised Skill Discovery for Efficient Hierarchical Reinforcement Learning
Jiaheng Hu,
Zizhao Wang,
Peter Stone†,
Roberto Martín-Martín†
NeurIPS, 2024
paper /
code /
project page
|
|
|
Learning to Look: Seeking information for Decision Making via Policy Factorization
Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martín-Martín
CoRL, 2024
paper /
project page
|
|
|
Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes
Chen Tang*, Ben Abbatematteo*, Jiaheng Hu*, Rohan Chandra, Roberto Martín-Martín, and Peter Stone
Annual Review of Control, Robotics, and Autonomous Systems, 2024
paper
|
|
|
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
DROID Dataset Team
RSS, 2024
paper
/
project page
/
data visualizer
|
|
|
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
ICRA, 2024, Best Paper Award
paper
/
project page
/
code
|
|
|
ELDEN: Exploration via Local Dependencies
Jiaheng Hu*,
Zizhao Wang*,
Peter Stone†,
Roberto Martín-Martín†
NeurIPS, 2023
paper /
poster /
video
|
|
|
Causal Policy Gradient for Whole-Body Mobile Manipulation
Jiaheng Hu,
Peter Stone,
Roberto Martín-Martín
RSS, 2023
paper /
website /
code /
poster
|
|
|
GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation
Jiaheng Hu,
Julian Whitman,
Howie Choset
CoRL, 2022
paper /
code /
poster
|
|
|
Large-scale Heterogeneous Multi-Robot Coverage via Domain Decomposition and Generative Allocation
Jiaheng Hu,
Howard Coffin,
Julian Whitman,
Matthew Travers,
Howie Choset
WAFR, 2022
paper /
code /
talk
|
|
|
Modular Robot Design Optimization with Generative Adversarial Networks
Jiaheng Hu,
Julian Whitman,
Matthew Travers,
Howie Choset
ICRA, 2022
paper /
code /
poster
|
|
|
Communication Learning via Backpropagation in Discrete Channels with Unknown Noise
Benjamin Freed,
Guillaume Sartoretti,
Jiaheng Hu,
Howie Choset
AAAI, 2020
paper
|
|
|
TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
Shivin Dass,
Wensi Ai,
Yuqian Jiang,
Samik Singh,
Jiaheng Hu,
Ruohan Zhang,
Peter Stone,
Ben Abbatematteo,
Roberto Martín-Martín
ICRA MoMa Workshop & RSS MoMa Workshop, 2024
project page
/
arXiv
/
code
|
|
|
Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI
Emily Jin*, Jiaheng Hu*, Zhuoyi Huang, Ruohan Zhang, Jiajun Wu, Li Fei-Fei, Roberto Martín-Martín
NeurIPS GenPlan Workshop & NeurIPS ALOE Workshop, 2023
paper /
poster /
code
|
|
|
UT Austin Villa 3D Simulation Robocup 2023
William Macke, Bo Liu, Caroline Wang, Jiaheng Hu, Shuozhe Li, Patrick MacAlpine, Peter Stone
3rd place at RoboCup 2023
paper
|
|
|
Composition Learning in “Modular” Robot Systems
Jiaheng Hu
Master's Thesis, 2022
paper /
event
|
|
|
Teleoperated Robot Grasping in Virtual Reality Spaces
Jiaheng Hu,
David Watkins,
Peter Allen
NEMS, 2021
paper /
code
|
- Conference Service:
- Teaching Assistant:
- I'm a big fan of contract bridge, and have been playing in various tournaments over the years. I won the 2nd place in the 2022 NABC 0-10k pairs, the champion of 2021 GNT flight C representing NYC, and the 1st prize in 2016 Chinese High School National representing my highschool, RDFZ.
- I play a few video games semi-competitively, including Counter-Strike (MM rank: LE), SGS, and Pokemon (VGC).
- I actively follow soccer tournaments, especially La Liga and Premier League. I used to play in my highschool varsity, but played less frequently nowadays due to injuries.
|
