Misc
The best way to reach me is via email:
anxingxiao [at] gmail.com (Primary)
anxingx [at] comp.nus.edu.sg (Research)
Office
You can often find me at:
Innovation 4.0, #06-01C, 3 Research Link, Singapore 117602
Links
Interesting Course Projects
Zero-shot Manipulation with Visual Prompting
NUS CS5242 Neural Network and Deep Learning (with Kaixin Li, Hao Luan, Yihang Wu)
We leverage Vision-Language Models (VLMs) for planning, perception, and reasoning in open-vocabulary robotic manipulation tasks by applying visual prompting for object- and action-level grounding. Our system integrates object grounding, code generation for planning, and open action execution, enabling the robotic system to perform complex, language-based manipulation tasks in real-world environments.
3D Language Gaussians for Zero-shot Robotic Grasping
NUS CS6244 Advanced Topics in Robotics (with Yuhong Deng, Jian Zhang)
We apply language gaussian splatting to robotic grasping tasks. Our approach constructs 3D scenes using Gaussian Splatting and incorporates semantic features, allowing the model to generate grasp poses informed by these semantics. By filtering based on feature similarity, we achieve successful grasping across four object categories, even when presented with highly open-ended language queries.
Localisation For Underwater Vehicles Using a Forward-Looking Sonar
NUS CS5340 Uncertainty Modelling in AI (with Xinyuan Niu, Xiang Li, Lum Chang Xin Shawn, Lau Kang Ruey Gregory)
Utilized Markov Random Fields (MRF) to denoise forward-looking sonar (FLS) images and Bayesian optimization to estimate the odometry; Implemented the Monte Carlo Localisation algorithm for Autonomous Underwater Vehicles (AUVs) on data collected from AUVs operating in open water.
Reach-Avoid Games via Deep Reinforcement Learning
HIT Auto2012 Introduction to Maching Learning
Designed training pipelines to solve reach-avoid games using the Soft Actor Criticism (SAC) algorithm;
The model was trained in Robotarium simulations and transferred to real-world experiments;
Learned policy performed better than the baseline MPC method and human policy in both defense and attack tasks.
Automatic notesbook scanner
Berkeley ME102B Mechatronics Design (with Wenzhe Tong, Paiting Liu, Weijian Feng)
Completed 3D model design in SolidWorks and manufactured parts of the scanner by 3D printing and laser cutting;
Integrated electronics components to achieve autonomous page turning and scanning;
Processed the scanner image with perspective transformation and adaptive threshold using OpenCV.
Selected Coursework
Artificial Intelligence:
- NUS CS6216: Graph Machine Learning (Prof. Xavier Bresson)
- NUS CS5340: Probabilistic Graphical Models (Prof. Harold Soh)
- NUS CS5242: Neural Networks and Deep Learning (Prof. Yang You)
- Berkeley CS294: Geometry and Learning for 3D Vision (Prof. Yi Ma)
- HIT AUTO2012: Introduction to Machine Learning
Control:
- Berkeley EE291E: Hybrid System and Intelligent Control (Prof. S. Shankar Sastry)
- Berkeley ME232: Advanced Control Systems (Prof. Kameshwar Poolla)
- Berkeley EE220C: State Estimation and Optimal Control (Prof. Mark Mueller)
- Berkeley EE128: Feedback Control System (Prof. Ronald Fearing)
Robotics:
- NUS CS6244: Using Language Models in Visual Perception (Prof. Angela Yao)
- Berkeley EECS106B: Robotic Manipulation and Interaction (Prof. Ruzena Bajcsy, Prof. S. Shankar Sastry)
- Berkeley ME102B: Mechatronics Design (Prof. Hannah Stuart)
- HITSZ AUTO2004: Design and Practice of Robotic System
Theoretical:
- NUS CS5461: Algorithmic Mechanism Design (Prof. Warut Suksompong)
- NUS CS6235: Mathematical Toolkit for CS Theory Research. (Prof. Jonathan Scarlett)
- Berkeley E231: Mathematical Methods in Engineering. (Prof. Andrew Packard, Prof. Murat Arcak, Prof. Mark Mueller)
- HIT MATH1009: Advanced Linear Algebra I, II (张贤科)
- HIT MATH1010: Mathematical Analysis I, II, III (严质彬)
- HIT EMEC1002: Theoretical Mechanics