infinity1096.github.io/index.html at master · infinity1096/infinity1096.github.io · GitHub

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<!DOCTYPE HTML>
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  <title>Yuchen Zhang</title>

  <meta name="author" content="Yuchen Zhang">
  <meta name="viewport" content="width=device-width, initial-scale=1">
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                  <p class="name" style="text-align: center;">
                    Yuchen Zhang
                  </p>
                  <p>
                    I am a Ph.D. student in Robotics at Carnegie Mellon University, advised by Dr. Wenshan Wang and Dr. Sebastian Scherer. My research focuses on building generalizable and efficient perception systems
                    for robotics. Previously, I worked on correspondence prediction, visual odometry, and reinforcement
                    learning for quadrupedal locomotion.

                    I earned my M.S. in Robotics at CMU and my B.S. in Electrical Engineering at UC San Diego. I also
                    spent 7 years competing in the FIRST Robotics Competition (FRC) and FIRST Tech Challenge (FTC).

                  </p>
                  <p style="text-align:center">
                    <a href="mailto:yuchenz7@andrew.cmu.edu">Email</a> &nbsp;/&nbsp;
                    <a href="data/yuchen_CV.pdf">CV</a> &nbsp;/&nbsp;
                    <a href="https://scholar.google.com/citations?user=NvjazjgAAAAJ">Scholar</a> &nbsp;/&nbsp;
                    <a href="https://x.com/YuchenZhan54250">Twitter</a> &nbsp;/&nbsp;
                    <a href="https://github.com/infinity1096">Github</a>
                  </p>
                </td>
                <td style="padding:2.5%;width:37%;max-width:37%">
                  <a href="images/yuchen.png"><img
                      style="width:100%;max-width:100%;object-fit: cover; border-radius: 50%;" alt="profile photo"
                      src="images/yuchen.png" class="hoverZoomLink"></a>
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                <td style="padding:16px;width:100%;vertical-align:middle">
                  <h2>Research</h2>
                  <p>
                    I am interested in perception and hardware integration for general-purpose robots. Most of my papers
                    focus on perception foundation models. Some papers are <span class="highlight">highlighted</span>.
                  </p>
                </td>
              </tr>
            </tbody>
          </table>
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                  <div class="one">
                    <div class="two" id='mapa_image'><video width=100% height=100% muted autoplay loop>
                        <source src="images/mapa_lab_demo.mp4" type="video/mp4">
                        Your browser does not support the video tag.

                      </video></div>
                    <img src='images/mapa.png' width=100%>
                  </div>
                  <script type="text/javascript">
                    function mapa_start() {
                      document.getElementById('mapa_image').style.opacity = "1";
                    }

                    function mapa_stop() {
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                    }
                    mapa_stop()
                  </script>
                </td>
                <td style="padding:8px;width:80%;vertical-align:middle">
                  <a href="https://map-anything.github.io/">
                    <span class="papertitle">MapAnything: Universal Feed-Forward Metric 3D Reconstruction
                    </span>
                  </a>
                  <br>
                  <a href="https://nik-v9.github.io/">Nikhil Keetha</a>,
                  <a href="https://sirwyver.github.io/">Norman Müller</a>,
                  <a href="https://demuc.de/">Johannes Schönberger</a>,
                  <a href="https://www.linkedin.com/in/lorenzoporzi">Lorenzo Porzi</a>,
                  <strong>Yuchen Zhang</strong>,
                  <a href="https://tobiasfshr.github.io/">Tobias Fischer</a>,
                  <a href="https://www.linkedin.com/in/arno-knapitsch">Arno Knapitsch</a>,
                  <a href="https://www.linkedin.com/in/duncan-zauss">Duncan Zauss</a>,
                  <a href="https://ethanweber.me/">Ethan Weber</a>,
                  <a href="https://www.linkedin.com/in/nelsonantunes7">Nelson Antunes</a>,
                  <a href="https://x.com/jonathonluiten?lang=en">Jonathon Luiten</a>,
                  <a href="https://m.lopezantequera.com/">Manuel López Antequera</a>,
                  <a href="https://scholar.google.com/citations?user=484sccEAAAAJ">Samuel Rota Bulò</a>,
                  <a href="https://richardt.name/">Christian Richardt</a>,
                  <a href="https://www.cs.cmu.edu/~deva/">Deva Ramanan</a>,
                  <a href="https://theairlab.org/team/sebastian/">Sebastian Scherer</a>,
                  <a href="https://www.linkedin.com/in/peter-kontschieder-2a6410134">Peter Kontschieder</a>
                  <br>
                    <em>3DV</em>, 2026
                  <br>
                  <a href="https://map-anything.github.io/">project page</a>
                  /
                  <a href="https://arxiv.org/abs/2509.13414">arXiv</a>
                  /
                  <a href="https://github.com/facebookresearch/map-anything">code</a>
                  /
                  <a href="https://huggingface.co/facebook/map-anything">model</a>
                  /
                  <a href="https://huggingface.co/spaces/facebook/map-anything">demo</a>
                  <p></p>
                  <p>
                    A feedforward geometric model that can utilize prior camera poses, intrinsics, and (sparse)
                    depth maps to produce metrically accurate 3D reconstructions.
                  </p>
                </td>
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                  <div class="one">
                    <div class="two" id='ufm_image'><video width=100% height=100% muted autoplay loop>
                        <source src="images/bike.mp4" type="video/mp4">
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                      </video></div>
                    <img src='images/ufm_bike.png' width="160" height="160">
                  </div>
                  <script type="text/javascript">
                    function ufm_start() {
                      document.getElementById('ufm_image').style.opacity = "1";
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                    function ufm_stop() {
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                    }
                    ufm_stop()
                  </script>
                </td>
                <td style="padding:8px;width:80%;vertical-align:middle">
                  <a href="https://uniflowmatch.github.io/">
                    <span class="papertitle">UFM: A Simple Path towards Unified Dense Correspondence with Flow</span>
                  </a>
                  <br>
                  <strong>Yuchen Zhang</strong>,
                  <a href="https://nik-v9.github.io/">Nikhil Keetha</a>,
                  <a href="https://www.linkedin.com/in/chenwei-lyu/">Chenwei Lyu</a>,
                  <a href="https://www.linkedin.com/in/bhuvanjhamb/">Bhuvan Jhamb</a>,
                  <a href="https://www.yutianchen.blog/">Yutian Chen</a>,
                  <a href="https://haleqiu.github.io/">Yuheng Qiu</a>,
                  <a href="https://jaykarhade.github.io/">Jay Karhade</a>,
                  <a href="https://www.linkedin.com/in/shreyasjha/">Shreyas Jha</a>,
                  <a href="http://www.huyaoyu.com/">Yaoyu Hu</a>,
                  <a href="https://www.cs.cmu.edu/~deva/">Deva Ramanan</a>,
                  <a href="https://theairlab.org/team/sebastian/">Sebastian Scherer</a>,
                  <a href="http://www.wangwenshan.com/">Wenshan Wang</a>,
                  <br>
                  <em>NeurIPS</em>, 2025
                  <br>
                  <a href="https://uniflowmatch.github.io/">project page</a>
                  /
                  <a href="https://arxiv.org/abs/2506.09278">arXiv</a>
                  /
                  <a href="https://github.com/UniFlowMatch/UFM">code</a>
                  /
                  <a href="https://huggingface.co/infinity1096/UFM-Refine">model</a>
                  /
                  <a href="https://huggingface.co/spaces/infinity1096/UFM">demo</a>
                  <p></p>
                  <p>

                    A simple, transformer model that can benefit from combining optical flow and wide-baseline matching data,
                    out-performing specialized models on both domain.
                  </p>
                </td>
              </tr>

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                        <source src="images/mmdr_trim.mp4" type="video/mp4">
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                      </video></div>
                    <img src='images/mmdr.png' width="160" height="160">
                  </div>
                  <script type="text/javascript">
                    function mmdr_start() {
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                    }
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                  </script>
                </td>
                <td style="padding:8px;width:80%;vertical-align:middle">
                  <a href="https://rchalyang.github.io/LocoTransformer/">
                    <span class="papertitle">Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay
                      Randomization</span>
                  </a>
                  <br>
                  <a href="https://www.linkedin.com/in/csimai/">Chieko Sarah Imai*</a>,
                  <a href="https://www.minghaozhang.com/">Minghao Zhang*</a>,
                  <strong>Yuchen Zhang*</strong>,
                  <a href="https://mrkiereb.com/">Marcin Kierebiński</a>,
                  <a href="https://rchalyang.github.io/">Ruihan Yang</a>,
                  <a href="https://yzqin.github.io/">Yuzhe Qin</a>,
                  <a href="https://xiaolonw.github.io/">Xiaolong Wang</a>,
                  <br>
                  <em>IROS</em>, 2022
                  <br>
                  <a href="https://rchalyang.github.io/LocoTransformer/">project page</a>
                  /
                  <a href="https://arxiv.org/abs/2109.14549">arXiv</a>
                  /
                  <a href="https://github.com/Mehooz/vision4leg">code</a>
                  <p></p>
                  <p>

                    A domain randomization strategy that simulates multi-modal delays in real hardwares, enabling sim2real transfer of locomotion policies.
                  </p>
                </td>
              </tr>

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                  <h2>Projects</h2>
                </td>
              </tr>
            </tbody>
          </table>

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                <td style="padding:16px;width:20%;vertical-align:middle">
                  <div class="one">
                    <div class="two" id='motor_image'><img src='images/motor_rotate.png' width=100%></div>
                    <img src='images/motor_static.png' width=100%>
                  </div>
                  <script type="text/javascript">
                    function motor_start() {
                      document.getElementById('motor_image').style.opacity = "1";
                    }

                    function motor_stop() {
                      document.getElementById('motor_image').style.opacity = "0";
                    }
                    motor_stop()
                  </script>
                </td>
                <td style="padding:8px;width:80%;vertical-align:middle">
                  <a href="">
                    <span class="papertitle">FOC Motor Controller
                    </span>
                  </a>
                  <br>
                  <!-- <a href="">more images</a> -->
                  <p></p>
                  <p>
                    A single channel Field-Oriented Control (FOC) motor controller based on STM32. Achieved 2kHz current loop bandwidth.
                  </p>
                </td>
              </tr>

              <tr onmouseout="gimbal_stop()" onmouseover="gimbal_start()">
                <td style="padding:16px;width:20%;vertical-align:middle">
                  <div class="one">
                    <div class="two" id='gimbal_image'><video width=100% height=100% muted autoplay loop>
                        <source src="images/gimbal_clip.mp4" type="video/mp4">
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                      </video></div>
                    <img src='images/gimbal.png' width=100%>
                  </div>
                  <script type="text/javascript">
                    function gimbal_start() {
                      document.getElementById('gimbal_image').style.opacity = "1";
                    }

                    function gimbal_stop() {
                      document.getElementById('gimbal_image').style.opacity = "0";
                    }
                    gimbal_stop()
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                  <a href="">
                    <span class="papertitle">Hand-held Gimbal
                    </span>
                  </a>
                  <br>
                  <!-- <a href="">more images</a> -->
                  <p></p>
                  <p>
                    A 3-channel FOC controller that stabilizes the phone based on IMU readings.
                  </p>
                </td>
              </tr>


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                  <br>
                  <p style="text-align:right;font-size:small;">
                    This website is based on template at <a
                      href="https://github.com/jonbarron/jonbarron_website">here</a>.
                  </p>
                </td>
              </tr>
            </tbody>
          </table>
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