Hung-Jui (Joe) Huang
I am a 4th-year Ph.D. student at CMU RI, co-advised by Prof. Michael Kaess and Prof. Wenzhen Yuan .
I am generally interested in robotics, computer vision, and machine learning.
My research is about superhuman tactile sensing, including actively estimating physical properties and creating high-resolution 3D reconstructions.
I received my B.Sc. in EECS at MIT. During my undergrad, I worked with Prof. Gregory Stein and Prof. Nicholas Roy .
After B.Sc., I worked at ISEE for two years with Dr. Chris Baker and Prof. Ying Nian Wu . In the past, I have worked on robot navigation and self-driving trucks.
I am named a Presidential Fellow at CMU and my research is supported by the Paul and James Wang/Sercomm Presidential Scholarship.
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CV (May 25) /
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Github
CMU Ph.D. in RI Aug. 21 - Present
ISEE Research Engineer Aug. 19 - May 21
Nvidia Intern Jun. 18 - Aug. 18
MIT B.Sc. in EECS Sep. 14 - Jun. 19
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GelSLAM: A Real-Time, High-Resolution, and Robust 3D Tactile SLAM System
Hung-Jui Huang ,
Amin Mirzaee ,
Wenzhen Yuan ,
Michael Kaess
Paper and Code Coming Soon  
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Extremely high-resolution, real-time 3D reconstruction using only tactile input.
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GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces
Amin Mirzaee ,
Hung-Jui Huang ,
Wenzhen Yuan
RA-L , 2024  
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Our tactile sensor is designed for efficient, continuous scanning over large surfaces.
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NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors
Hung-Jui Huang ,
Michael Kaess ,
Wenzhen Yuan
RA-L , 2024  
Best Poster Award, ICRA 2025 Dexterity in Multi-Fingered Hands Workshop  
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Real-time, robust, and accurate tactile-based tracking for novel objects, including low-textured ones like ping pong balls and eggs.
Useful for manipulation, in-hand manipulation, and 3D reconstruction tasks.
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FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
Irving Fang* ,
Kairui Shi* ,
Xujin He* ,
Siqi Tan ,
Yifan Wang ,
Hanwen Zhao ,
Hung-Jui Huang ,
Wenzhen Yuan
Chen Feng ,
Jing Zhang ,
ICRA , 2025
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Robot reconstructing visually and geometrically accurate surroundings with sparse visual and tactile data.
An Intelligent Robotic System for Perceptive Pancake Batter Stirring and Precise Pouring
Xinyuan Luo* ,
Shengmiao Jin* ,
Hung-Jui Huang ,
Wenzhen Yuan
[IROS Best Entertainment and Amusement Papers Finalists]
IROS , 2024
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Our pancake preparation robot integrates advanced sensory and control algorithms to mix batter with precise uniformity, estimate its properties, and pour it into specified shapes.
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Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating
Hung-Jui Huang ,
Jingyi Xiang ,
Wenzhen Yuan
ICRA , 2024  
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Our sauce plating robot can precisely control the thickness of squeezed liquids on a surface, even when dealing with unseen liquids.
Estimating Properties of Solid Particles Inside Container Using Touch Sensing
Xiaofeng Guo ,
Hung-Jui Huang ,
Wenzhen Yuan
IROS , 2023  
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Estimating solid particle properties (e.g., size and shape) inside a container using tactile and force-torque sensing.
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Understanding Dynamic Tactile Sensing for Liquid Property Estimation
Hung-Jui Huang ,
Xiaofeng Guo ,
Wenzhen Yuan
RSS , 2022  
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High-precision liquid viscosity and volume estimation using only tactile sensing.
Our approach can even estimate sugar concentration within water based on slight viscosity variations.
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Planning on a (Risk) Budget: Safe Non-Conservative Planning in Probabilistic Dynamic Environments
Hung-Jui Huang ,
Kai-Chi Huang ,
Michal Čáp ,
Yibiao Zhao ,
Ying Nian Wu ,
Chris L. Baker
ICRA , 2021  
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A planning algorithm with guaranteed bounds on the probability of safety violation, which nonetheless achieve non-conservative performance.
Tested on a self-driving truck in a real-world environment.
Omnidirectional CNN for Visual Place Recognition and Navigation
Tsun-Hsuan Wang* ,
Hung-Jui Huang* ,
Juan-Ting Lin ,
Chan-Wei Hu ,
Kuo-Hao Zeng ,
Min Sun
(* indicates equal contribution)
ICRA , 2018  
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O-CNN compares omnidirectional visual images to a database of images to determine the robot's location and helps navigation.
I served as a teaching assistant for the following courses.
CMU 16-720 Computer Vision (Spring 2024)
MIT 6.141 Robotics: Science and Systems (Fall 2018)
My chinese name is 黃泓睿 and it pronouced like "Huang-Hung-Ray". 😀
Outside of research, I read philosophy, meditate, and play video games.
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