Zhue Wa (Harry)
Research Scientist
Dept. of Computer Science and Engineering, UC San Diego
zhw168 (at) ucsd.edu
Hi!👋 My name is Zhue Wa, and I am a Research Scientist in the Department of Computer Science and Engineering at UC San Diego, where I am advised by Prof. Ling Hao. I obtained my bachelor’s degree in Intelligent Manufacturing from Tongji University. I also contributed to robot development and embodied AI research at startup Nimbot as the early member. During my undergraduate years, I also led an entrepreneurial initiative focused on healthcare robotics (see here) 🏄🏻♂️.
🏢 Office: Franklin Antonio Hall 3302 or (Atkinson Hall 5202), 9500 Gilman Drive, La Jolla, CA 92093
About Me
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Robotic Manipulation: Mobile Manipulation, Soft Body Manipulation, Human-Robot Interaction
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Visual-Lanugage-Action Model: Real2Sim2Real, Robotic Data Scaling, 3D Vision
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AI for Design: Mechanical Structure Optimization, Personalized Surgery
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[Nov. 2024] Nimbot realised the first fully autonomous robot demo trained primarily through simulation technology.
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[Jun. 2024] Made the first real-world robot demo of Nimbot.
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[Nov. 2023] Early participant in embodied intelligence startups Nimbot AI.
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[Aug. 2023] Joined UC San Diego as a Research Scientist.
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[May. 2023] Awarded with Outstanding Graduate of Shanghai.
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[Mar. 2022] First Prize in Chinese College Students Entrepreneurship Competition.
Research Interests
News
Publications
Zhue Wa, Yanbang Li, Ziyang Gong, Xiaoqi Huang, Haolan Kang, Guangping Bai, Xianzheng Ma
Zhue Wa, Guangze Zheng, Sihang Li, Junjie Ye, Changhong Fu
IEEE Robotics and Automation Letters, 2023.
Shanghai Outstanding Graduate Thesis
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Portable Venipuncture Robot for Autonomous Vascular Access
Zhue Wa*, Tenghui Xie*, Jinhai Pan, Zhiyuan Wu, Peng Qi and et. al. (*Corresponding authors)
ASME Student Mechanism and Robot Design Competition (Finalist), 2022.
2021 MIT Technology Review
Projects
VR-Enhanced Dual-Arm Dexterous Teleoperation
Innovative teleoperation system using Meta Quest 3 and Rokoko Gloves for precise robotic manipulation. Over 2,000 robot arm manipulation demonstrations were collected. Electrotactile stimulation will improve tactile feedback in the project's advanced VR technology and dexterous robotic hands.
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Next-Generation Home Cleaning Robot
Next-generation robotic vacuum with flexible home use and lightweight robotic arm. It uses advanced navigation and manipulation to complete tasks that other cleaning robots cannot. System uses rule-based GraspNet for reliable object handling and ROS2 Navigation2 stack for effective navigation from garbage collection to board cleaning and box manipulation.
First Real-World Robot Demo of Nimbot
De-Icing Intelligent Robot
An intelligent robotic system designed for autonomous de-icing operations, combining advanced control systems with specialized hardware for efficient ice removal in challenging conditions.
Sim2Real Efficient Policy Training
Innovative research in robotic manipulation through advanced simulation techniques, bridging the gap between simulated environments and real-world applications. The project focuses on developing robust control strategies that can effectively transfer from simulation to physical robots.
Grasp Pose Generation
This project developed an AI-driven grasping and design pipeline for robotic manipulation. It generated parallel-jaw grasp poses, validated them in simulation, and created a grasp motion planner, collecting over 200 demonstrations. Additionally, the pipeline optimized the humanoid robot's mechanical design, enhancing its grasping capabilities.
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Machining and Fabrication
Proficient in precision fabrication, utilizing laser cutting for aluminum and stainless steel sheet panels, 3D printing in PLA and soft TPU materials, and aluminum profile assembly. Experienced in creating support structures, including platforms for bimanual robotic arms and various robust frameworks for advanced robotics applications.