Hi, I'm a research assistant at Columbia University, advised by Professor Asaf Cidon. I also work closely with Professor Shuran Song and Professor Junfeng Yang. I obtained my MS in Computer Science at Columbia SEAS. For my undergrad, I studied Mathematics and Computer Science at NYU Courant.

I'm passionate about deploying AI Systems on real-world agents in a reliable and trustworthy manner. Towards this goal, my work spans from online domain shift adaptation to safe human-robot interactions. I'm also interested in AI safety.

Zixi Wang, Zeyi Liu, Nicolas Ouporov, Shuran Song
Under submission to IROS 24

We propose a robot-to-human handover system that consists of two phases: Contact-Guided Grasping and Object Delivery. During grasping, the robot predicts both robot grasp poses and a 3D affordance map of human contacts on the object, and executes most stable grasp while avoiding human contacts. During delivery, the robot end effector pose is computed by maximizing human contact points close to the human while minimizing the human arm joint torques and displacements.