I am currently a research assistant at Visual Intelligence and System Group, Computer Vision Lab, ETH Zurich, working on visual-locomotion control for manipulator and legged robots.

I graduated from ShenYuan Honors College, Beihang University (Beijing University of Aeronautics and Astronautics, BUAA) with a Bachelor’s degree and from the Robotics Institute of Beihang University with a Master’s degree, supervised by Prof. Wang Wei.

While my current research focuses on how (data-driven) perceptions can make robots more autonomous and intelligent, I also have a strong passion for hardware design and real world experiments, stemming from my background as an engineering student who embarked from the field of Mechatronics.

For more details, please check my published papers about SLAM and Robot Learning. You can also have a look at my previous tiny projects about robotics and automation.

📝 Publications

Preprint
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DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision

Yutong Hu*, Wenke Han, Fisher Yu, Yifan Liu

  • Make quadrupedal robot able to dribble and kick soccer ball using only ego-vision camera and onboard sensors.
  • Transfer the skill from Sim to Real by distilling a Feedback based Motion Prior Generator into an implicit Policy Network learned from Massively Parallel Deep Reinforcement Learning process.
RA-L & IROS 2022
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Making Parameterization and Constrains of Object Landmark Globally Consistent via SPD (3) Manifold

Yutong Hu, Wei Wang*

  • Propose A Mono-camera SLAM system that can provide map with sematic-meaningful Ellipsoid landmarks to represent object in the indoor scenes.
  • Further improvements on the representation of the 9-DOF object landmarks (Rotation, Translation, Scale), resulting in an improved Object SLAM system with faster and 22% more accurate back-end mapping manifold optimization process.
RA-L & ICRA 2022
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SO-SLAM: Semantic object slam with scale proportional and symmetrical texture constraints

Ziwei Liao, Yutong Hu, Jiadong Zhang, Xianyu Qi, Xiaoyu Zhang, Wei Wang*

  • Enhance monocular object SLAM algorithm by fully coupling three spatial structure (Symmetrical, Plane-Tangent, Scale) constraints for indoor environments.
  • Propose a sampling-based method to detect the texture symmetry for objects in monocular images.

⚙️ Tiny Projects

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Dragon-like Worm
8-bar Linkage Walker
Smartphone-controlled Paper Plane
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Maglev Prototype
2-joint Maze Solver
Sim2Real Grasping

📖 Educations

  • 2020.09 - 2023.03: M.Phil., the Robotics Institute, School of Mechanical Engineering and Automation, Beihang University
  • 2016.09 - 2020.06: B.Eng., ShenYuan Honors College, Beihang University

💻 Internships

  • 2023.07 - 2024 (Now): Research Assistant @ Visual Intelligence and System Group, Computer Vision Lab, ETH Zurich.
  • 2022.05 - 2022.10: Research Intern @ Samsung Research Center, Beijing.

🎖 Honors and Awards

  • 2024.01: Samsung 2023 Best Intern
  • 2024.01: Outstanding Master Thesis Award in Beihang University
  • 2024.01: Outstanding Graduates Award in Beijing province
  • 2023.11: Robotics Institute Founder’s Scholarship (1/year)
  • 2016,2018-2019,2020, 2022: Annual Full Scholarship