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Jiaheng Hu
胡佳恒
Welcome to my homepage! My name is Jiaheng Hu (Jeff). I'm a 3rd year 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 household robots (e.g. humanoid robots, mobile manipulators). I'm generously supported by the Two Sigma PhD Fellowship.
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. I have also spent summers at Allen Institute for AI and Google.
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Selected Publications (Full list on google scholar).
*: Equal contribution. †: Equal advising.
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SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL
Jiaheng Hu,
Peter Stone,
Roberto Martín-Martín
CoRL, 2025
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video
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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, 2025
CoRL X-Embodiment Workshop, 2024, Best Paper Finalist
CoRL LLHomeRobots Workshop, 2024, Oral Spotlight
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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, 2025
AAAI SMP Track, 2025
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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
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project page
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Disentangled Unsupervised Skill Discovery for Efficient Hierarchical Reinforcement Learning
Jiaheng Hu,
Zizhao Wang,
Peter Stone†,
Roberto Martín-Martín†
NeurIPS, 2024
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project page
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Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
ICRA, 2024, Best Paper Award
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ELDEN: Exploration via Local Dependencies
Jiaheng Hu*,
Zizhao Wang*,
Peter Stone†,
Roberto Martín-Martín†
NeurIPS, 2023
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Causal Policy Gradient for Whole-Body Mobile Manipulation
Jiaheng Hu,
Peter Stone,
Roberto Martín-Martín
RSS, 2023
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GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation
Jiaheng Hu,
Julian Whitman,
Howie Choset
CoRL, 2023
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- Conference Service:
- Organizor: Causality for Robotics: Answering the Question of Why Workshop, IROS 2023
- Program Committee: IJCAI 2024, NeurIPS 2023 Generalization in Planning Workshop
- Reviewer: NeurIPS, ICLR, ICML, CoRL, RSS, AAAI, IJCAI, ICRA, IROS, T-RO, RAL
- Teaching Assistant:
- I'm a big fan of contract bridge, and have been playing in various tournaments over the years. I am currently a member of the USA U31 team.
Previously, I won the 2nd place in the NABC 0-10k pairs and GNT flight C champion (playing for NYC).
- Here are a list of video games I've each spent 1000+ hours on:
- Counter-Strike (Rank: Legendary Eagle)
- 三国杀 (Here's a video of my game featured by a streamer)
- Pokemon (VGC & All main series games; complete pokedex in all games since Gen 6.)
- I actively follow soccer tournaments, especially La Liga and Premier League. I used to play in my highschool varsity.
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