Jiahui Zhang

I'm a research associate at General Robotics Lab, Duke University, under the supervision of Prof. Boyuan Chen.

Before at Duke University, I spent two years as a research student at Cognitive Learning for Vision and Robotics Lab (CLVR), advised by Prof. Joseph J. Lim. I also interned at Horizon Robotics, working with Haonan Yu and Wei Xu.

I received my master's degree in Electronic Engineering from University of Southern California (USC). Before that, I did my undergraduate in Fan Gongxiu Honors College at the Beijing University of Technology and majored in Electronic Information Engineering.

My research interests lie in reinforcement learning and robotics. I am interested in offline RL, skill learning and the intersection of RL and vision.

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I am actively seeking a Ph.D. position for Fall 2024.

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Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance
Jesse Zhang, Jiahui Zhang, Karl Pertsch, Ziyi Liu, Xiang Ren, Minsuk Chang, Shao-Hua Sun, Joseph J. Lim
CoRL 2023 (Oral)

We propose BOSS, an approach that automatically learns to solve new long-horizon, complex, and meaningful tasks by growing a learned skill library with minimal supervision.

SPRINT: Scalable Semantic Policy Pretraining via Language Instruction Relabeling
Jesse Zhang, Karl Pertsch, Jiahui Zhang, Joseph J. Lim
In Submission
[Arxiv] [Website] [Code]

We propose SPRINT, a scalable approach for pre-training robot policies with a rich repertoire of skills while minimizing human annotation effort. Given a dataset of robot trajectories with an initial set of task instructions for offline pre-training, SPRINT expands the pre-training task set without additional human effort via language-model-based instruction relabeling and cross-trajectory skill chaining.


Cross Domain Imitation Learning Through MPC

Jiahui Zhang, Haonan Yu, Jesse Zhang, Joseph J. Lim, Wei Xu

We present a novel approach leveraging source trajectory and target state-action similarity to replicate the task in the source domain.

    Principle’s scholarship, Beijing University of Technology. 2018
    Outstanding Research Achievement Award, Beijing University of Technology, Fan Gongxiu Honors College. 2017

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