General

Dengpeng Xing

Institute of Automation, Chinese Academy of Sciences

Email: dengpeng.xing@ia.ac.cn

Address: No. 95, Zhongguancun East Rd. Haidian District, Beijing

Postcode: 100190

Research Areas

robot control; brain-inspired learning; causal reinforcement learning.

Education

2008.12-2009.12, Robotics Institute, Carnegie Mellon Univeristy, Visitor

2006.3-2010.7, Department of Automation, Shanghai Jiao Tong Univeristy, PhD

2003.9-2006.3, School of Mechanical Engineering, Tianjin University, Master

1998.9-2002.7, School of Mechanical Engineering, Tianjin University, Bachelor

Experience

   
Work Experience

2022.11-now, Insitute of Automation, Chinese Academy of Sciences, Professor

2013.10-2022.10, Insitute of Automation, Chinese Academy of Sciences, Associate Professor

2012.11-2013.10, Insitute of Automation, Chinese Academy of Sciences, Assistant Professor

2010.11-2012.11, Shanghai Jiao Tong University, Post-doctor

Teaching Experience

Undergraduate courses:

Robotics in 2023-now.


​Graduate courses:

Introduction to Robotics in 2015 and 2016.

Robotics in 2017-2021.

Mechanisms and Robotics in 2019-2022.


Publications

   
Papers

Journals:

  1. Dengpeng Xing, Yiming Yang, Tielin Zhang, and Bo Xu. A brain-inspired approach for probabilistic estimation and efficient planning in precision physical interaction, IEEE Transactions on Cybernetics, to be published(SCI)
  2. Linghui Meng, Muning Wen, Chenyang Le, Xiyun Li, Dengpeng Xing, Weinan Zhang, Ying Wen, Haifeng Zhang, Jun Wang*, Yaodong Yang, and Bo Xu*. Offline pre-trained multi-agent decision transformer, Machine Intelligence Research, 20(2), 233-248, 2023. (SCI)
  3. Yiming Yang, Dengpeng Xing*, and Bo Xu. Efficient spatiotemporal transformer for robotic reinforcement learning, IEEE Robotics and Automation Letters, 7(3), 7982-7989, 2022(SCI)
  4. Dengpeng Xing, Jiale Li, Tielin Zhang, and Bo Xu. A brain-inspired approach for collision-free movement planning in the small operational space, IEEE Transactions on Neural Networks and Learning Systems, 33(5), 2094-2105, 2022. (SCI)
  5. Dengpeng Xing*, Fangfang Liu, De Xu, and Bo Xu. Simultaneous control in belief space for circular insertion in precision assembly, IEEE Transactions on Industrial Informatics, 17(3), 1842-1851, 2021. (SCI)
  6. Dengpeng Xing, Xiwei Liu, Fangfang Liu, and De Xu. Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism, IEEE Transactions on Industrial Informatics, 17(2), 1263-1273, 2021. (SCI)
  7. Dengpeng Xing, Fangfang Liu, and De Xu. Joint alignment and simultaneous insertion of multiple objects in precision assembly, IEEE Transactions on Industrial Informatics, 17(1), 230-239, 2021. (SCI)
  8. Dengpeng Xing, Fangfang Liu*, and De Xu. Coordinated motion planning of independent manipulators in precision manipulation, IEEE Transactions on Industrial Informatics, 16(11), 6933-6942, 2020. (SCI)
  9. Dengpeng Xing, Fangfang Liu*, and De Xu. Efficient coordinated control strategy to handle randomized inclination in precision assembly, IEEE Transactions on Industrial Informatics, 16(9), 5814-5824, 2020. (SCI)
  10. Song Liu, Youfu Li, and Dengpeng Xing. Sensing and control for simultaneous precision peg-in-hole assembly of multiple objects, IEEE Transactions on Automation Science and Engineering, 17(1), 310-324, 2020. (SCI)
  11. Fangbo Qin, Dapeng Zhang, Dengpeng Xing, De Xu, and Jianquan Li. Laser beam pointing control with piezoelectric actuator model learning. IEEE Transactions on Systems, Man and Cybernetics: Systems, 50(3), 1024-1034, 2020. (SCI)
  12. Dengpeng Xing, Lv Yan, Song Liu, De Xu, and Fangfang Liu. Efficient insertion of multiple objects parallel connected by passive compliant mechanisms in precision assembly, IEEE Transactions on Industrial Informatics, 15(9), 4878-4887, 2019. (SCI)
  13. Song Liu, Dengpeng Xing, Youfu Li, Jianwei Zhang, and De Xu. Robust insertion control for precision assembly with passive compliance combining vision and force information, IEEE/ASME Transactions on Mechatronics, 24(5), 1974-1985, 2019. (SCI)
  14. Dengpeng Xing, Fangfang Liu, Song Liu, and De Xu. Efficient insertion of partially flexible objects in precision assembly, IEEE Transactions on Automation Science and Engineering, 16(2), 706-715, 2019. (SCI
  15. Dengpeng Xing, Fangfang Liu, Song Liu, and De Xu. Efficient collision detection and detach control for convex prisms in precision manipulation, IEEE Transactions on Industrial Informatics, 14(12), 5316-5326, 2018. (SCI)
  16. Dengpeng Xing, Fangfang Liu, Song Liu, and De Xu. Motion control for cylindrical objects in microscopes’ view using a projection method: I. collision detection and detach control. IEEE Transactions on Industrial Electronics, 64(7), 5524-5533, 2017. (SCI)
  17. Dengpeng Xing, Fangfang Liu, Song Liu, and De Xu. Motion control for cylindrical objects in microscope’s view using a projection method: II. Collision Avoidance with Reduced Dimensional Guidance. IEEE Transactions on Industrial Electronics, 64(7), 5534-5544, 2017. (SCI)
  18. Song Liu, You-Fu Li, Dengpeng Xing, De Xu, and Hu Su. An efficient insertion control method for precision assembly of cylindrical components. IEEE Transactions on Industrial Electronics, 2017. (SCI)
  19. Fangbo Qin, De Xu, Dengpeng Xing*, and Zhengtao Zhang. An active radial compliance method with anisotropic stiffness learning for precision assembly. International Journal of Precision Engineering and Manufacturing, 18(4), 471-478, 2017. (SCI,Corresponding author)
  20. Dengpeng Xing, Fangfang Liu, Fangbo Qin, and De Xu. Coordinated insertion control for inclined precision assembly. IEEE Transactions on Industrial Electronics, 63(5), 2990-2999, 2016. (SCI)
  21. Dengpeng Xing, De Xu, Fangfang Liu, Haipeng Li, and Zhengtao Zhang. Precision assembly among multiple thin objects with various fit types. IEEE/ASME Transactions on Mechatronics, 21(1), 364-378, 2016. (SCI)
  22. Dengpeng Xing and Jianbo Su. Joint role exploration in sagittal balance by optimizing feedback gains. Robotica, 33(1), 127-139, 2015. (SCI)
  23. Dengpeng Xing, Jianbo Su, Yantao Liu, and Jiandong Zhong. Robust approach for humanoid joint control based on a disturbance observer. IET Control Theory & Applications, 2011, 5(14), 1630-1636. (SCI)
  24. Dengpeng Xing and Jianbo Su. Motion generation for the upper body of humanoid robot. International Journal of Humanoid Robotics, 2010, 7(2), 281-294. (SCI)
  25. Dengpeng Xing and Jianbo Su. Arm/Trunk motion generation for humanoid robot. Science China Information Sciences, 2010, 53(8), 1603-1612. (SCI) (Reported by Chinese Science Bulletin, 2010, 55(27-28), 2783.)
  26. Dengpeng Xing and Xu Liu. Multiple balance strategies for humanoid standing control. Acta Automatica Sinica, 2011, 37(2), 234-239. (EI)
  27. Haipeng Li, Dengpeng Xing, Zhengtao Zhang, De Xu, and Dapeng Zhang, Micro-Assembly robot system with multiple manipulators based on macro-micro motion mechanism. Robots, 2015, 37(1): 35-42. (EI)

Conferences:

  1. Dengpeng Xing*, Yiming Yang, Zechang Wang, Jiale Li, and Bo Xu. Generalized robot dynamics learning and Gen2Real transfer. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023. (EI)
  2. Linghui Meng, Xuantang Xiong, Yifan Zang, Xi Zhang, Guoqi Li, Dengpeng Xing*, and Bo Xu*. Filtered Observations for Model-based Multi-agent Reinforcement Learning. European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases, 2023. (EI)
  3. Zhongwei Yu, Jingqing Ruan, and Dengpeng Xing*. Explainable reinforcement learning via a causal world model. International Joint Conference on Artificial Intelligence, 2023. (EI)
  4. Linghui Meng, Jingqing Ruan, Xuantang Xiong, Xiyun Li, Xi Zhang, Dengpeng Xing*, and Bo Xu*. M3: Modularization for multi-task and multi-agent offline pre-training. International Conference on Autonomous Agents and Multiagent Systems, 2023. (EI)
  5. Qingyang Zhang, Yiming Yang, Jingqing Ruan, Xuantang Xiong, Dengpeng Xing*, and Bo Xu. Balancing exploration and exploitation in hierarchical reinforcement learning via latent landmark graphs. International Joint Conference on Neural Networks, 2023. (EI)
  6. Dengpeng Xing*, Wannian Xia, and Bo Xu. Kinematics learning of massive heterogeneous serial robots. IEEE International Conference on Robotics and Automation, 10535-10541, 2022. (EI)
  7. Linghui Meng, Jingqing Ruan, Dengpeng Xing*, and Bo Xu*. Learning in bi-level Markov games. International Joint Conference on Neural Networks, 2022. (EI)
  8. Jingqing Ruan, Linghui Meng, Xuantang Xiong, Dengpeng Xing*, and Bo Xu*. Learning multi-agent action coordination via electing first-move agent. International Conference on Automated Planning and Scheduling, 624-628, 2022. (EI)
  9. Jingqing Ruan, Yali Du*, Xuantang Xiong, Dengpeng Xing, Xiyun Li, Linghui Meng, Haifeng Zhang, Jun Wang, and Bo Xu*, GCS: Graph-Based coordination strategy for multi-agent reinforcement learning. International Conference on Autonomous Agents and Multiagent Systems, 1128-1136, 2022. (EI)
  10. Dengpeng Xing, De Xu, and Fangfang Liu. Collision detection for cylindrical objects. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4798-4803, 2015. (EI)
  11. Dengpeng Xing, De Xu, Haipeng Li, and Liyan Luo. Active calibration and its applications on micro-operating platform with multiple manipulators. IEEE International Conference on Robotics and Automation, 5455-5460, 2014. (EI)
  12. Dengpeng Xing, De Xu, and Haipeng Li. A sequence of micro-assembly for irregular objects based on a multiple manipulator platform. IEEE/RSJ International Conference on Intelligent Robots and Systems, 761-766, 2014. (EI)
  13.  Dengpeng Xing and Jianbo Su. Optimal parametric controller for perturbed balance and walking. IEEE International Conference on Robotics and Automation, 5404-5409, 2012. (EI)
  14. Dengpeng Xing and Jianbo Su. Walking controllers under perturbations. IEEE International Conference on Systems, Man, and Cybernetics, 1514-1519, 2011. (EI)
  15. Dengpeng Xing, Christopher G. Atkeson, Jianbo Su, and Benjamin J. Stephens. Gain scheduled control of perturbed standing balance. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4063-4068, 2010. (EI)
  16. Dengpeng Xing and Jianbo Su. Controller parameter optimization for multiple balance strategies. Chinese Control Conference, 3193-3198, 2010. (EI)
  17. Dengpeng Xing and Jianbo Su. Motion generation for the upper body of humanoid robot. IEEE International Conference on Decision and Control, 6064-6069, 2009. (EI)
  18.  Dengpeng Xing and Christopher G. Atkeson. Feedback controller parameter optimization for standing balance. Dynamic Walking, 2009.



Patents

邢登鹏,徐德,罗李焱,李海鹏,张正涛,张大朋,史亚莉,一种多路显微视觉标定方法及应用,授权号:CN201310481882.3

邢登鹏,李海鹏,徐德,“多路真空正、负压输出控制装置及控制方法, 授权号:CN201310483153.1

邢登鹏,刘希伟,邹伟,徐德,“轮腿机器人的自稳定控制方法、系统、装置”,授权号:CN201911036885.X

邢登鹏,李佳乐,杨依明,徐波,“数据集生成方法、装置、电子设备及存储介质”,授权号:202111105029.2

邢登鹏,李佳乐,杨依明,徐波,“机器人控制方法、装置、电子设备及存储介质”,授权号:202111122532.9

邢登鹏,李佳乐,杨依明,徐波,“一种机器人控制方法、装置及存储介质”,授权号:202111113736.6

邢登鹏,杨依明,李佳乐,徐波,“模型迁移方法、装置”,授权号:202111206993.4



Students

已指导学生

刘希伟  硕士研究生  081101-控制理论与控制工程  

李佳乐  硕士研究生  081203-计算机应用技术  

现指导学生

余忠蔚  硕士研究生  085404-计算机技术  

王开申  硕士研究生  081203-计算机应用技术  

管宏阳  硕士研究生  085404-计算机技术  

王泽昌  硕士研究生  081203-计算机应用技术  

张一博  硕士研究生  081104-模式识别与智能系统