Lechen Zhang

I'm a Robotics PhD student at MBZUAI, advised by Professor Sami Haddadin. Prior to that, I was a graduate research assistant in the Creative Machines Lab at Columbia University under Professor Hod Lipson.

Email / Scholar / Github / LinkedIn

Research

I'm interested in intersection of computer vision, deep learning, generative AI, and robotics. Most of my research is about inferring the physical world (kinematics, dynamics, depth, color, etc) from sensor observations.

	Eye, Robot: Learning Realistic Robot Gaze From Human Motion Data Under Review Realistic Gaze Transformer (RGT), a Transformer-VAE framework that learns full-head gaze dynamics, including head rotations and eyelid movements, from human motion capture data.
	AutoURDF: Unsupervised Robot Modeling from 4D Point Cloud Jiong Lin, Lechen Zhang, Kwansoo Lee, Jialong Ning, Judah Goldfeder, Hod Lipson CVPR 2025 (Acceptance Rate: 22.1%) project page / arXiv An unsupervised approach for understanding robot motion and constructing description files for unseen robots from point cloud frames.
	MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction Heng Zhou, Zhetao Guo, Yuxiang Ren, Shuhong Liu, Lechen Zhang, Kaidi Zhang, Mingrui Li, IEEE Robotics and Automation Letters (RA-L) arXiv Monocular SLAM with metric depth estimation and Gaussian-based unbounded scene representation.
	Soft Robot Neural Evolution with LLMs Supervision Lechen Zhang ICRA 2024, Workshop on Co-design in Robotics, Oral project page / arXiv Voxel-based soft robot fast evolution with LLMs supervision and CUDA-based spring-mass simulation and neural network structure evolution.

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