I am a roboticist specializing in motion planning and control for manipulation and legged locomotion. I completed my Ph.D. at UCLA and a postdoctoral position at the Georgia Institute of Technology, during which time I completed two research internships at Amazon Robotics and Toyota Research Institute. My first-authored papers received the Best Paper Award on Safety, Security, and Rescue Robotics at IROS 2019 and was a finalist for the Best Paper Award at UR 2024. I received the Outstanding Reviewer Award from Robotics: Science and Systems (RSS) 2025, and I am a member of the world championship team (First Place, Humanoid Adult Size Division) for the RoboCup 2024 competition.
During my M.S. studies, my research focused on the hardware aspects of robotics, including the development of wall-climbing robots, grippers, and humanoids; notable works include SiLVIA and SCALER. During my Ph.D., I have shifted toward creating general frameworks for task and motion planning, and applying them to real-world robotics problems, such as search and rescue, factory automation, and service robotics. Representative works include Logic Network Flow and Benders Decomposition.
We propose a hybrid motion planning and control framework based on Generalized Benders Decomposition that controls a cart-pole system with randomly moving soft-contact walls reaching speeds 2-3 times faster than Gurobi, oftentimes exceeding 1000Hz.
Xuan Lin, Jiming Ren, Samuel Coogan, Ye Zhao ICRA, 2025
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We propose Logic Network Flow, an innovative optimization formulation for motion planning under temporal logic constraints. Synthesized with Dynamic Network Flow, our framework accelerates the computation by tightening the convex relaxations.
Xuan Lin, Gabriel Fernandez, Dennis Hong UR, 2024, finalist, Best Paper Award
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We compare the data-driven performance of two MIBLP reformulations: mixed-integer programming (MIP) and mathematical programming with complementary constraints (MPCC). This evaluation is conducted on a book placement problem featuring discrete configuration switches and bilinear constraints.
Xuan Lin, Jiming Ren, Samuel Coogan, Ye Zhao Ongoing work, 2024
We demonstrate task and motion planning for time-critical search and rescue tasks using humanoid robot teams inside a realistic battlefield simulation environment using MuJoCo.
Yusuke Tanaka, Xuan Lin*, Yuki Shirai*, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong (*equal contribution) IROS, 2022
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We introduce SCALER, a quadrupedal robot capable of climbing bouldering walls, overhangs, and ceilings, as well as trotting on the ground while carrying payloads up to 233% of its weight on flat surfaces and 35% on vertical walls. The first author received the IROS 2022 SICE International Young Authors award. Congratulations!
Xuan Lin, Jingwen Zhang, Junjie Shen, Gabriel Fernandez, Dennis Hong IROS, 2019, Best Paper Award on Rescue Robotics
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We introduce SiLVIA, a hexapod robot that demonstrates climbing between two walls with bare foot and planned motion, the first robot to demonstrate such capability.
