Pingcheng Jian (简平诚)

I am a third year PhD student in the ECE department at Duke University. I'm fortunate to be advised by Professor Michael Zavlanos and Professor Boyuan Chen.

Previously, I obtained my bachelor of engineering from the Department of Automation at Tsinghua University in 2021.

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My current research is about robot learning, and my previous publications mostly focus on robotic manipulation. I also have education background in control theory, and I am very interested in the combination of machine learning and control theory.

Policy Stitching: Learning Transferable Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell, Michael M. Zavlanos, Boyuan Chen
Conference on Robot Learning (CoRL), 2023
project website / arXiv / video / CoRL talk /

We propose Policy Stitching, a novel framework to facilitate multi-task and multi-robot transfer.

Adversarial Skill Learning for Robust Manipulation
Pingcheng Jian*, Chao Yang*, Di Guo, Huaping Liu, Fuchun Sun
International Conference on Robotics and Automation (ICRA), 2021
arXiv / video / code /

Using adversarial reinforcement learning to imrove the robustness of robotic manipulation.

Physics-Guided Active Learning of Environmental Flow Fields
Reza Khodayi-mehr, Pingcheng Jian, Michael M. Zavlanos
Learning for Dynamics and Control (L4DC), 2023
arXiv /

We propose a physics-based method to learn environmental fields (EFs) using a mobile robot.

DAIR: Disentangled Attention Intrinsic Regularization for Safe and Efficient Bimanual Manipulation
Minghao Zhang*, Pingcheng Jian*, Yi Wu, Huazhe Xu, Xiaolong Wang
ICML workshop, 2021
project website / arXiv / video /

Solve complex bimanual robot manipulation tasks on multiple objects with disentangled attention, which provides an intrinsic regularization for two robots to focus on separate sub-tasks and objects.


Some course projects show my engineering capability.

Quadruped Spider Robot
/ video /

I built all the hardware and software of this spider robot from scratch. I drew the parts of this robot with SOLIDWORKS and then printed them with 3D printer. The controller of this robot is a Raspberry Pi, and the control algorithm is written in Python. Then I generated the .urdf files of this robot and built the simulator of this robot with PyBullet.

Teaching Experiences

Teaching Assistant at Duke: ECE 382L/ME 344L - Control of Dynamic Systems
/ lecture / recitation /