Changyi Lin

I am a second-year PhD student at CMU Safe AI Lab, advised by Prof. Ding Zhao. Previously, I was a research assistant at Tsinghua Embodied AI Lab, where I gained my initial exposure to research under the guidance of Prof. Huazhe Xu. I obtained my bachelor degree in ME&CS from Huazhong University of Science and Technology (HUST).

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Research

I'm generally interested in the intersection of robotics, tactile sensing, computer vision, and machine learning. My goal is to develop robotic systems that can comprehensively perceive and interact with the physical world.

	DTactive: A Vision-Based Tactile Sensor with Active Surface Jikai Xu, Lei Wu, Changyi Lin, Ding Zhao, and Huazhe Xu Under Review paper \| website \| hardware \| X
	Agile Continuous Jumping in Discontinuous Terrains Yuxiang Yang, Guanya Shi, Changyi Lin, Xiangyun Meng, Rosario Scalise, Mateo Guaman Castro, Wenhao Yu, Tingnan Zhang, Ding Zhao, Jie Tan, Byron Boots Under Review paper \| website \| video \| code \| X
	LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators Changyi Lin, Xingyu Liu, Yuxiang Yang, Yaru Niu, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots, and Ding Zhao IROS 2024 paper \| website \| video \| hardware & code \| X \| media(IEEE Spectrum, TechXplore, CMU Engineering News)
	ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch Zhengrong Xue, Han Zhang, Jingwen Cheng, Zhengmao He, Yuanchen Ju, Changyi Lin, Gu Zhang, and Huazhe Xu ICRA 2024 paper \| website \| video \| code \| X
	9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation Changyi Lin, Han Zhang, Jikai Xu, Lei Wu, and Huazhe Xu RAL & ICRA 2024 paper \| website \| video \| hardware & code \| dataset \| X \| tutorial-en \| tutorial-cn
	DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness Changyi Lin, Ziqi Lin, Shaoxiong Wang, and Huazhe Xu ICRA 2023 paper \| website \| video \| hardware & code \| X \| media(Technology)

Projects

	Generalizable BeamWalking for Legged Robots with Reinforcement Learning Course Project for Intro to Robot Learning(16-831 by Deepak Pathak) Techniques: Reinforcement Learning, Curriculum Learning, Computer Vision
	RobotMaster Robotics Competition Engineer Robot 2019, Dart System 2020, SLAM System 2021 Techniques: Mechanical Design, Control, SLAM, Computer Vision

Talks

[2024/05/01] Invited Talk at CMU Manipulation Seminar

[2024/04/26] Invited Talk at CMU Locomotion Seminar

Academic Services

Conference Reviewer: ICRA, IROS, Humanoids
Journal Reviewer: RAL

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