​I am a Ph.D. candidate in the Robotics Institute at Carnegie Mellon University. I obtained my B.A.Sc. in Engineering Science with Honours from University of Toronto, with a major in Aerospace Engineering and a minor in Robotics and Mechatronics.

My research focuses on online modeling and prediction of operator intent for human-in-the-loop control of mobile robots, and agile safe navigation in unknown environments. My areas of interest include planning, control, human robot interaction and bayesian inference for human decision making.

You can contact me at xuning at cmu dot edu.

Publications

  1. An Intention Guided Hierarchical Framework for Trajectory-based Teleoperation of Mobile Robots
    Xuning Yang, Jasmine Cheng, and Nathan Michael
    International Conference on Robotics and Automation (ICRA), 2021
    [bibtex] [gif]

  2. Assisted Mobile Robot Teleoperation with Intent-aligned Trajectories via Biased Incremental Action Sampling
    Xuning Yang and Nathan Michael
    International Conference on Intelligent Robots and Systems (IROS), October 2020
    [bibtex] [video presentation] [gif]

  3. Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor
    Alexander Spitzer*, Xuning Yang*, John Yao, Aditya Dhawale, Kshitij Goel, Mosam Dabhi, Matt Collins, Curtis Boirum, and Nathan Michael
    International Symposium on Experimental Robotics (ISER), November 2018
    [bibtex] [video] [sim/real gifs]

  4. Reactive Collision Avoidance using Real-Time Local Gaussian Mixture Model Maps
    Aditya Dhawale, Xuning Yang, and Nathan Michael
    International Conference on Intelligent Robots and Systems (IROS), October 2018
    [bibtex] [gif]

  5. Online adaptive teleoperation via motion primitives for mobile robots
    Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael
    Special Issue on Learning for Human-Robot Collaboration, Autonomous Robots, April 2018
    [bibtex]

  6. A Framework for Efficient Teleoperation via Online Adaptation
    Xuning Yang, Koushil Sreenath, and Nathan Michael
    International Conference on Robotics and Automation (ICRA), May 2017
    [bibtex] [gif]

  7. Online Adaptive Teleoperation via Incremental Intent Modeling
    Xuning Yang, Koushil Sreenath, and Nathan Michael
    Late Breaking Report, International Conference on Human-Robot Interaction (HRI), March 2017
    [bibtex]

Talks

  1. Invited talk: Toward intuitive human controlled MAVs: motion primitives based teleoperation
    IROS 2018 workshop: Vision based Drones: What’s Next?

Other projects

  1. In-place hover-to-hover flip of a quadrotor, featured in Rapyuta Robotics Ltd. Teaser video
    [gif]