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@LiJiarui111
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<p style="text-align:center">
<name>Jiarui Li</name>
</p>
<p>I'm a senior undergrad at the <a href="https://en.coe.pku.edu.cn/">College of Engineering</a> at <a href="https://english.pku.edu.cn/">Peking University</a>, majoring in robotics engineering. I am grateful to be advised by Professor <a href="https://hankyang.seas.harvard.edu/">Heng Yang</a> and to be working as a visiting undergraduate researcher at the computational robotics research group
at the <a href="https://seas.harvard.edu/">School of Engineering and Applied Sciences</a> (SEAS), <a href="https://www.harvard.edu/">Harvard University</a>.
<p>I'm a senior undergrad at the <a href="https://en.coe.pku.edu.cn/" target="_blank">College of Engineering</a> at <a href="https://english.pku.edu.cn/" target="_blank">Peking University</a>, majoring in robotics engineering. I am grateful to be advised by Professor <a href="https://hankyang.seas.harvard.edu/" target="_blank">Heng Yang</a> and to be working as a visiting undergraduate researcher at the computational robotics research group
at the <a href="https://seas.harvard.edu/" target="_blank">School of Engineering and Applied Sciences</a> (SEAS), <a href="https://www.harvard.edu/" target="_blank">Harvard University</a>.
</p>
<p>
<!-- My research interests include robotics, control and planning. Outside of academia, I enjoy hiking, running and swimming. -->
<b>I'm applying for graduate programs now!</b> I will receive my B.E. from Peking University in 2024. After that, I would like to continue my journey in the beautiful world of robotics. 🤖️<a href="https://jinrouli.github.io/">🐱</a>
<b>I'm applying for graduate programs now!</b> I will receive my B.E. from Peking University in 2024. After that, I would like to continue my journey in the beautiful world of robotics. 🤖️<a href="https://jinrouli.github.io/" target="_blank">🐱</a>
</p>
<p style="text-align:center">
&nbsp;|&nbsp;<a href="mailto:[email protected]"> Email</a> &nbsp;|&nbsp;
<a href="https://scholar.google.com/citations?user=ddq45VQAAAAJ&hl=en">Google Scholar</a> &nbsp;|&nbsp;
<a href="https://www.linkedin.com/in/jiarui-li-me/">LinkedIn</a> &nbsp;|&nbsp;
<a href="files/Jiarui-Li-CV-formal-gdoc.pdf">CV</a> &nbsp;|&nbsp;
<a href="https://github.com/LiJiarui111">Github</a> &nbsp;|&nbsp;
<a href="https://twitter.com/Jiarui_Li_"> Twitter </a>&nbsp;|&nbsp;
&nbsp;|&nbsp;<a href="mailto:[email protected]" target="_blank"> Email</a> &nbsp;|&nbsp;
<a href="https://scholar.google.com/citations?user=ddq45VQAAAAJ&hl=en" target="_blank">Google Scholar</a> &nbsp;|&nbsp;
<a href="https://www.linkedin.com/in/jiarui-li-me/" target="_blank">LinkedIn</a> &nbsp;|&nbsp;
<a href="files/Jiarui-Li-CV-formal-gdoc.pdf" target="_blank">CV</a> &nbsp;|&nbsp;
<a href="https://github.com/LiJiarui111" target="_blank">Github</a> &nbsp;|&nbsp;
<a href="https://twitter.com/Jiarui_Li_" target="_blank"> Twitter </a>&nbsp;|&nbsp;
</p>
</td>
<td style="padding:2.5%;width:40%;max-width:40%">
<a href="images/Jiaruiliprofile.jpg"><img style="width:100%;max-width:100%" alt="profile photo" src="images/Jiaruiliprofile.jpg" class="hoverZoomLink"></a>
<a href="images/Jiaruiliprofile.jpg" target="_blank"><img style="width:100%;max-width:100%" alt="profile photo" src="images/Jiaruiliprofile.jpg" class="hoverZoomLink"></a>
<p style="text-align: center;">
<a href="https://hits.seeyoufarm.com"><img src="https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fjrli.org&count_bg=%233DAEC8&title_bg=%23555555&icon=tinder.svg&icon_color=%23E7E7E7&title=hits&edge_flat=false"/></a>
<a href="https://hits.seeyoufarm.com" target="_blank"><img src="https://hits.seeyoufarm.com/api/count/incr/badge.svg?url=https%3A%2F%2Fjrli.org&count_bg=%233DAEC8&title_bg=%23555555&icon=tinder.svg&icon_color=%23E7E7E7&title=hits&edge_flat=false"/></a>
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<newstitle>✨ <b>Dec 01, 2023</b></newstitle>
</td>
<td style="padding-bottom: 15px;width:80%;vertical-align:left">
<news><b style="color: blue;">Extended version</b> of the <a href="sub-page/iros23-uam.html"><newspaper>IROS Best Paper Finalist on Mobile Manipulation Paper</newspaper></a> on aerial manipulation, titled <a href="sub-page/iros23-uam.html"><newspaper><i>Design, Planning, and Control of an Over-actuated Aerial Manipulator for Sequential Manipulation</i></newspaper></a> submitted to <a style="font-size: 16px;" href="https://www.ieee-ras.org/publications/t-ro">Transactions on Robotics (T-RO)</a></news></td>
<news><b style="color: blue;">Extended version</b> of the <a href="sub-page/iros23-uam.html" target="_blank"><newspaper>IROS Best Paper Finalist on Mobile Manipulation Paper</newspaper></a> on aerial manipulation, titled <a href="sub-page/iros23-uam.html" target="_blank"><newspaper><i>Design, Planning, and Control of an Over-actuated Aerial Manipulator for Sequential Manipulation</i></newspaper></a> submitted to <a style="font-size: 16px;" href="https://www.ieee-ras.org/publications/t-ro" target="_blank">Transactions on Robotics (T-RO)</a></news></td>
</tr>

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<td style="padding-bottom: 0px;width:20%;vertical-align:left">
<newstitle>✨ <b>Sep 28, 2023</b></newstitle>
</td>
<td style="padding-bottom: 15px;width:80%;vertical-align:left">
<news>Thrilled to announce that my paper <a href="sub-page/iros23-uam.html"><newspaper><i>Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators</i></newspaper></a> on aerial manipulation at <a style="font-size: 16px;" href="https://ieee-iros.org/">IROS 2023</a> won the <a style="font-size: 16px; color:red" href="files/IROS23-certificate.pdf"><b>Best Paper Finalist Award on Mobile Manipulation</b></a>! Looking forward to presenting it at IROS! </news></td>
<news>Thrilled to announce that my paper <a href="sub-page/iros23-uam.html" target="_blank"><newspaper><i>Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators</i></newspaper></a> on aerial manipulation at <a style="font-size: 16px;" href="https://ieee-iros.org/" target="_blank">IROS 2023</a> won the <a style="font-size: 16px; color:red" href="files/IROS23-certificate.pdf" target="_blank"><b>Best Paper Finalist Award on Mobile Manipulation</b></a>! Looking forward to presenting it at IROS! </news></td>
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<newstitle>✨ <b>Jul 3, 2023</b></newstitle>
</td>
<td style="padding-bottom: 15px;width:80%;vertical-align:left">
<news>Hello Boston! Grateful to be advised by Professor <a style="font-size: 16px;" href="https://hankyang.seas.harvard.edu/">Heng Yang</a> to start working as a visiting undergraduate researcher at the computational robotics research group at the <a style="font-size: 16px;" href="https://seas.harvard.edu/">SEAS</a>, <a style="font-size: 16px;" href="https://www.harvard.edu/">Harvard University</a>. </news></td>
<news>Hello Boston! Grateful to be advised by Professor <a style="font-size: 16px;" href="https://hankyang.seas.harvard.edu/" target="_blank">Heng Yang</a> to start working as a visiting undergraduate researcher at the computational robotics research group at the <a style="font-size: 16px;" href="https://seas.harvard.edu/" target="_blank">SEAS</a>, <a style="font-size: 16px;" href="https://www.harvard.edu/" target="_blank">Harvard University</a>. </news></td>
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<tr style="padding-bottom: 0px;">
<td style="padding:0px;width:20%;vertical-align:left">
<newstitle>✨ <b>Jun 22, 2023</b></newstitle>
</td>
<td style="padding-bottom: 15px;width:80%;vertical-align:left">
<news>Two papers <a style="font-size: 16px; color:#C37EDB"><i>Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators</i></a> and <a style="font-size: 16px;color:#C37EDB"><i>Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements</i></a> accepted to <a style="font-size: 16px;" href="https://ieee-iros.org/">2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)</a></news>
<news>Two papers <a style="font-size: 16px; color:#C37EDB"><i>Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators</i></a> and <a style="font-size: 16px;color:#C37EDB"><i>Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements</i></a> accepted to <a style="font-size: 16px;" href="https://ieee-iros.org/" target="_blank">2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)</a></news>
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<newstitle>✨ <b>Jun 16, 2023</b></newstitle>
</td>
<td style="padding-bottom: 15px;width:80%;vertical-align:left">
<news>One paper <a style="font-size: 16px; color:#C37EDB"><i>L³F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing</i></a> accepted to <a style="font-size: 16px;" href="https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369">IEEE Robotics and Automation Letters</a></news></td>
<news>One paper <a style="font-size: 16px; color:#C37EDB"><i>L³F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing</i></a> accepted to <a style="font-size: 16px;" href="https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369" target="_blank">IEEE Robotics and Automation Letters</a></news></td>
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<td style="padding:20px;width:25%;vertical-align:middle">
<a href="sub-page/iros23-uam.html">
<a href="sub-page/iros23-uam.html" target="_blank">
<img src="images/iros23aerialvkc2.jpg" alt="iros2023aerialvkc" width="160">
</a>
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<a href="sub-page/iros23-uam.html">
<a href="sub-page/iros23-uam.html" target="_blank">
<papertitle>Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators</papertitle>
</a>
<br>
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<br>
<b><em style="color: blue;">Extended version submitted to Transactions on Robotics (T-RO) </em></b>
<br>
<a href="sub-page/iros23-uam.html">Project Page</a>
<a href="sub-page/iros23-uam.html" target="_blank">Project Page</a>
/
<a href="https://arxiv.org/abs/2306.14105">paper</a>
<a href="https://arxiv.org/abs/2306.14105" target="_blank">paper</a>
/
<a href="https://vimeo.com/844128686">video</a>
<a href="https://vimeo.com/844128686" target="_blank">video</a>
<p></p>
<a style="color:red" href="files/IROS23-certificate.pdf"><b><u>Best Paper Award Finalist on Mobile Manipulation at IROS 2023! </u></b></a>
<a style="color:red" href="files/IROS23-certificate.pdf" target="_blank"><b><u>Best Paper Award Finalist on Mobile Manipulation at IROS 2023! </u></b></a>
<p>Tackled sequential manipulation planning for UAMs, considering coordinated motions of the base, manipulator, and object. Using a VKC-based motion planning framework and a hierarchical control framework, we for the first time show new sequential manipulation capabilities for an over-actuated UAM in simulation and experiment.</p>
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<br>
<em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</em>, 2023
<br>
<a href="https://www.researchgate.net/publication/372247728_Aggregating_Single-wheeled_Mobile_Robots_for_Omnidirectional_Movements">paper</a>
<a href="https://www.researchgate.net/publication/372247728_Aggregating_Single-wheeled_Mobile_Robots_for_Omnidirectional_Movements" target="_blank">paper</a>
/
<a href="https://www.youtube.com/watch?v=uQLXeP36Pnw">video</a>
<a href="https://www.youtube.com/watch?v=uQLXeP36Pnw" target="_blank">video</a>
<p></p>
<p>Our novel modular robot system self-reconfigures and moves omnidirectionally through magnetic docking. The modules have steerable omni wheels and magnets on each corner. An optimization-based method distributes wheel heading direction for efficient movement. We validate the system's trajectory tracking and demonstrate stable caging formation and smooth transportation.</p>
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<br>
<em>IEEE Robotics and Automation Letters (RA-L)</em>, 2023
<br>
<a href="https://ieeexplore.ieee.org/abstract/document/10173594">paper</a>
<a href="https://ieeexplore.ieee.org/abstract/document/10173594" target="_blank">paper</a>
/
<a href="https://jrli.org/">video</a>
<a href="https://jrli.org/" target="_blank">video</a>
<p></p>
<p>Designed and built the L³F-TOUCH sensor, an enhanced version of the classic GelSight sensor, to acquire a much better three-axis force sensing capability while being light-weight, low-cost and wireless for the ease of replication and deployment. </p>
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<br>
<em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</em>, 2022
<br>
<a href="https://sites.google.com/view/downwash-uav">project page</a>
<a href="https://sites.google.com/view/downwash-uav" target="_blank">project page</a>
/
<a href="https://arxiv.org/abs/2207.09645">paper</a>
<a href="https://arxiv.org/abs/2207.09645" target="_blank">paper</a>
/
<a href="https://vimeo.com/729266370">video</a>
<a href="https://vimeo.com/729266370" target="_blank">video</a>
<p></p>
<p>Leveraging the input redundancy in over-actuated UAVs, we tackle downwash effects between propellers with a novel control allocation framework that explores the entire allocation space for an optimal solution that reduces counteractions of airflows.</p>
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<br>
</p>
<i>Jul 2022 - Present</i>, Boston, MA
<p style="line-height:20px;"><strong>Research Advisor</strong>: <a href="https://hankyang.seas.harvard.edu/">Prof. Heng Yang</a></p>
<p style="line-height:20px;"><strong>Research Advisor</strong>: <a href="https://hankyang.seas.harvard.edu/" target="_blank">Prof. Heng Yang</a></p>
<p></p>
<!-- <p style="line-height:20px;">Honors & Awards:</p> -->
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<!-- <p style="line-height:10px;"> </p> -->
<!-- <p style="line-height:10px;padding-top: 10px;">Honors & Awards:</p> -->
<p style="line-height:20px;"><strong>Research Advisor</strong>: <a href="https://yaosu.info/">Dr. Yao Su</a>, <a href="https://liuhx111.github.io/">Dr. Hangxin Liu</a> <br>● Intern Outstanding Contribution Award from BIGAI in 2023</p>
<p style="line-height:20px;"><strong>Research Advisor</strong>: <a href="https://yaosu.info/" target="_blank">Dr. Yao Su</a>, <a href="https://liuhx111.github.io/" target="_blank">Dr. Hangxin Liu</a> <br>● Intern Outstanding Contribution Award from BIGAI in 2023</p>
<p></p>
<!-- <p style="line-height:20px;">Honors & Awards:</p> -->
</td>
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