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Jiaheng Hu
胡佳恒
Welcome to my homepage! My name is Jiaheng Hu (Jeff). Starting from 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.
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 /
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LinkedIn /
Github
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Talks
- Aug 2024: Towards Building Self-improving Robot Systems. UW CSE163 guest lecture.
- Aug 2024: Structural Factorization in Robotic Reinforcement Learning. University of Washington Robotics
- Jul 2024: Structural Factorization in Robotic Reinforcement Learning. NVIDIA Seattle Robotics Lab
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Publications
*: Equal contribution. †: Equal advising.
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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, 2024
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DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
DROID Dataset Team
RSS, 2024
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project page
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data visualizer
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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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project page
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code
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ELDEN: Exploration via Local Dependencies
Jiaheng Hu*,
Zizhao Wang*,
Peter Stone†,
Roberto Martín-Martín†
NeurIPS, 2023
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poster /
video
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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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website /
code /
poster
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GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation
Jiaheng Hu,
Julian Whitman,
Howie Choset
CoRL, 2022
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code /
poster
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Large-scale Heterogeneous Multi-Robot Coverage via Domain Decomposition and Generative Allocation
Jiaheng Hu,
Howard Coffin,
Julian Whitman,
Matthew Travers,
Howie Choset
WAFR, 2022
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code /
talk
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Modular Robot Design Optimization with Generative Adversarial Networks
Jiaheng Hu,
Julian Whitman,
Matthew Travers,
Howie Choset
ICRA, 2022
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code /
poster
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Communication Learning via Backpropagation in Discrete Channels with Unknown Noise
Benjamin Freed,
Guillaume Sartoretti,
Jiaheng Hu,
Howie Choset
AAAI, 2020
paper
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Workshops / Preprints / Others
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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
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arXiv
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code
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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
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code
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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
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Composition Learning in “Modular” Robot Systems
Jiaheng Hu
Master's Thesis, 2022
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event
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Teleoperated Robot Grasping in Virtual Reality Spaces
Jiaheng Hu,
David Watkins,
Peter Allen
NEMS, 2021
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code
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- 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, and the 1st prize in 2016 Chinese High School National.
- I play a few video games semi-competitively, including Counter-Strike (MM rank: LE), SGS, and Pokemon (VGC).
- I actively follow soccer tournaments, sepecially UCL, La Liga, Premier League, and of course the World Cup. I used to play in my highschool varsity, but played less frequently nowadays due to injuries.
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