Anxing Xiao (肖岸星), Researcher & Engineer

I am an incoming PhD student at University of British Columbia, advised by Prof. Renjie Liao and Prof. Lele Wang. Currently, I am a research and teaching assistant at Southern University of Science and Technology, supervised by Prof. Max Q.-H. Meng and Prof. Hong Zhang.
Previously, I was a visiting student at UC Berkeley advised by Prof. Koushil Sreenath, working on guide dog robot at Hybrid Robotics Lab. I obtained my bachelor’s degree at Harbin Institute of Technology in 2021 and worked closely with Prof. Haoyao Chen.
My research interest lies in the intersection of control, optimization, and machine learning with their applications to planning, perception, and decision-making for autonomous systems.

  • Birthday: 24 Jun 1999
  • City: Shenzhen, China
  • Email: anxingxiao@gmail.com
  • Google Scholar: Click Here

News

  • 06/2022: One paper is accepted to IROS 2022.
  • 03/2022: I receive the UBC Four Year Doctoral Fellowship.
  • 02/2022: One paper is accepted to ICRA 2022.
  • 07/2021: I graduate from HIT and join SUSTech as a research assistant.
  • 06/2021: Our paper is selected to ICRA Best Paper Award Finalist for Service Robotics.
  • 06/2021: One paper is accepted to CASE 2021.
  • 03/2021: One paper is accepted to ICRA 2021.
  • 05/2020: One paper is accepted to AIM 2020.
  • 08/2019: I am enrolled as a visiting student in UC Berkeley.

Curriculum Vitae

Education

Harbin Institute of Technology, Shenzhen, China

Sep 2017 -- Jul 2021

Bachelor of Engineering, Automation

GPA: 93.06/100 (ranking 1st/70)

Advisors: Prof. Haoyao Chen and Prof. Hao Xiong

Honor: National Scholarship, Dean's Award, First-class Undergraduate Academic Scholarship

University of California, Berkeley, USA

Aug 2019 -- Sep 2020

Academic Exchange Student

GPA: 3.93/4.0

Advisors: Prof. Koushil Sreenath

Experience

Full-time Research and Teaching Assistant

Aug 2021 - Present

Southern University of Science and Technology, China

Advisors: Prof. Max Q-H. Meng

Research Intern

Jan 2021 - Jul 2021

Noah's Ark Lab, Huawei, China

Advisors: Prof. Jianzhuang Liu

Undergraduate Researcher

Mar 2020 - Oct 2020

Hybrid Robotics Lab, UC Berkeley, USA

Advisors: Prof. Koushil Sreenath

Academic Services

Journal Reviewer

  • IEEE Transactions on Robotics (T-RO), 2021 -- Present
  • Biomimetic Intelligence and Robotics, 2021 -- Present

Conference Reviewer

  • 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2022 IEEE International Conference on Robotics and Automation (ICRA)
  • 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Undergraduate Research Mentor

  • Quadruped Guidance Robot, Tsinghua SIGS, 2021.9 -- Present
  • Plane-Fitting based Uneven Terrain Navigation Framework, Tsinghua SIGS, 2021.9 -- Present

Google Scholar


Preprint

Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach
Yanbo Chen, Zhengzhe Xu, Zhuozhu Jian, Gengpan Tang, Yunong Yangli, Anxing Xiao, Xueqian Wang, Bin Liang
Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2023. Student Advisor

PUTN: A Plane-fitting based Uneven Terrain Navigation Framework
Zhuozhu Jian, Zihong Lu, Xiao Zhou, Bin Lan, Anxing Xiao, Xueqian Wang, Bin Liang
Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. Student Advisor

2022

Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control
Anxing Xiao*, Hao Luan*, Ziqi Zhao*, Yue Hong, Jieting Zhao, Jiankun Wang, Max Q-H Meng
IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, May 2022.

2021

Autonomous Navigation with Optimized Jumping through Constrained Obstacles on Quadrupeds
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath
IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, Aug 2021.

Robotic Guide Dog: Leading Human with Leash-Guided Hybrid Physical Interaction
Anxing Xiao*, Wenzhe Tong*, Lizhi Yang*, Jun Zeng, Zhongyu Li and Koushil Sreenath
IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, May 2021.
This paper was the ICRA Best Paper Award Finalist for Service Robotics.

2020

Amphibious Robot’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control
Yaqi Wu*, Anxing Xiao*, Haoyao Chen, Shiwu Zhang and Yunhui Liu
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, July 2020.

* co-first author

 

Research

My Research

My current research topics cover motion planning and control, assistive robotics, field robotics, and general autonomous system design. I aim to narrow the gap between robotics research and its applications, with a focus on socially-aware scenario. My research plan is to develop next-generation autonomous system.


Assistive Robotics

Improve people’s lives through intelligent robotics.

Planning & Control

Enable robots with high-performance motions and behaviors.

Field Robotics

Finish complex tasks in unstructured environments.


Assistive Robotics


Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach

Student Advisor | Submitted to ICRA 2023
We propose a novel guidance robot system with a comfort-based concept. To allow humans to be guided safely and more comfortably to the target position in complex environments, our proposed force planner can plan the forces experienced by the human with the force-based human motion model. And the proposed motion planner generate the specific motion command for robot and controllable leash to track the planned force. Our system has been deployed on Unitree Laikago quadrupedal platform and validated in real-world scenarios.
Paper Video


Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control

First Author | ICRA 2022
We present a novel mobile manipulation system with applications in luggage trolley collection. The proposed system integrates a compact hardware design and a progressive perception stragy and MPC-based planning framework, enabling the system to efficiently and robustly collect trolleys in dynamic and complex environments. We demonstrate our design and framework by deploying the system on actual trolley collection tasks, and their effectiveness and robustness are experimentally validated.
Paper Video


Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interactions

First Author | ICRA 2021
We propose a hybrid physical Human-Robot Interaction model that involves leash tension to describe the dynamical relationship in the robot-guiding human system. This hybrid model is utilized in a mixed-integer programming problem to develop a reactive planner that is able to utilize slack-taut switching to guide a blind-folded person to safely travel in a confined space. The proposed leash-guided robot framework is deployed on a Mini Cheetah quadrupedal robot and validated in experiments.
Paper Video


Planning & Control


Autonomous Navigation with Optimized Jumping through Constrained Obstacles on Quadrupeds

Collaboration | CASE 2021
We developed an end-to-end framework that enabled multi-modal transitions between walking and jumping skills. Using multi-phased collocation based nonlinear optimization, optimal trajectories were generated for the quadrupedal robot while avoiding obstacles and allowing the robot to jump through window-shaped obstacles. An integrated state machine, path planner, and jumping and walking controllers enabled the Mini-Cheetah to jump over obstacles and navigate previously nontraversable areas.
Paper Video


Hexapod Robotic’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control

Co-First Author | AIM 2021
We first contribute a well design deep neural network (DNN) as a precise black-box kinematic model of the amphibious robot. Then, we design a DNN based nonlinear model predictive controller which obtains the robot’s real-time moving command by iterative optimization. The simulation results indicate the proposed controller is superior to the basic controller in the robot’s tracking efficiency and accuracy.
Paper


Field Robotics


PUTN: A Plane-fitting based Uneven Terrain Navigation Framework

Student Advisor | IROS 2022
We proposed a plane-fitting based uneven terrain navigation framework(PUTN) which is designed for effectively navigating on uneven terrain. A new terrain assessment with plane-fitting to evaluate the traversability of the terrain is proposed. Combined with the informed-RRT* and this terrain assessment method, a new planning algorithm, PF-RRT*, is proposed. By using Gaussian Process, the traversability of the dense path is generated given the sample tree generated by PF-RRT*. The results verify the advantages of the PF-RRT* algorithm and the practicability of PUTN.
Paper Video

Research Awards

  • Four Year Doctoral Fellowship, University of British Columbia, 2022-2026
  • ICRA Best Paper Award Finalist for Service Robotics, IEEE Robotics and Automation Society, 2021
  • Innovation Fellowship, Harbin institute of technology Shenzhen, 2021.
  • Dean's Award, Harbin institute of technology Shenzhen, 2021
  • National Scholarship, Harbin institute of technology Shenzhen, 2018

Invited Talks

Media

Portfolio

Under maintenance

Selected Coursework

Control:

  • Feedback Control System (UC Berkeley EE128, Prof. Ronald Fearing)
  • Advanced Control Systems (UC Berkeley ME232, Prof. Kameshwar Poolla)
  • Experiential Advanced Control Design (UC Berkeley EE220C, Prof. Mark Mueller)
  • Hybrid System and Intelligent Control (UC Berkeley EE291E, Prof. S. Shankar Sastry)

Robotics:

  • Robotic Manipulation and Interaction (UC Berkeley EECS106B, Prof. Ruzena Bajcsy, Prof. S. Shankar Sastry)
  • Mechatronics Design (UC Berkeley ME102B, Prof. Hannah Stuart)
  • Design and Practice of Robotic System
  • Theoretical Mechanics

Mathematics:

  • Mathematical Methods for Engineering (UC Berkeley E231, Prof Andrew Packard, Prof. Murat Arcak, Prof. Mark Mueller)
  • Mathematical Analysis I, II, III (Prof. Zhibin Yan (严质彬))
  • Advanced Linear Algebra I, II (Prof. Xianke Zhang (张贤科))
  • Probability Theory and Mathematical Statistics
  • Function of Complex Variable and Integral Transforms

Artificial Intelligence:

  • Geometry and Learning for 3D Vision (UC Berkeley, CS294-167, Prof. Yi Ma)
  • Introduction to Machine Learning

Electronics:

  • Electric Circuit I, II
  • Fundamentals of Analog Electronics
  • Digital electronic technology foundation

Programming:

  • C++ Language Programming
  • High-level Programming Practice
  • R Programming for Data Science

Opportunities

Under maintenance, Projects will be released in May

Institutes

  • Tsinghua Shenzhen International Graduate School, Shenzhen, China
  • Southern University of Science and Technology, Shenzhen, China
© Anxing Xiao (03/2022)
Designed by BootstrapMade