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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8" />
<link href="https://fonts.googleapis.com/css2?family=Source+Sans+Pro:wght@200;300;400;600;700;900&display=swap"
rel="stylesheet">
<link rel="stylesheet" type="text/css" href="assets/css/style.css" />
<link rel="icon" href="assets/images/columbia_university.png" type="image/png">
<title> Lei Huang </title>
</head>
<body>
<div style="width:1000px;margin: 0px auto;">
<header id="header" width="400px" style="display:flex;justify-content: space-around;">
<a href="#profile-intro">Home</a>
<a href="#updates">Updates</a>
<a href="#research">Research</a>
<!-- <a href="#projects">Projects</a> -->
</header>
<div id="profile">
<div id="profile-pic">
<!-- <img src="assets/images/profile.png" /> -->
<div id="profile-pic">
<img src="assets/images/profile.png" style="width: 300px; height: 300px;" />
</div>
<!-- <p style="text-align:left;margin-top:-15px;">Picture taken by <a
href="http://www.columbia.edu/~hqh2101/">Huy Ha</a></p> -->
</div>
<div id="profile-intro">
<div id="profile-name">Lei Huang 黄磊</div>
<div id="profile-email">lh2921 at columbia dot edu</div>
<p>
I am a PhD student at <a href="https://www.columbia.edu/">Columbia University</a>, affiliated with <a href="https://intelconstructlab.github.io/index.html">ICON@Columbia</a>. I am fortunate to be advised by Professor <a href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>. I train intelligent robots using imitation learning and reinforcement learning. I also apply them in downstream tasks, such as construction activities.
</p>
<!-- <p>
Learning random things has been the greatest source of pleasure for me, and I hope this will never stop.
Recently, I have been into learning several languages.
</p> -->
<p>
<b>Mentoring: </b> I am always interested in mentoring highly-motivated undergrads/masters in CIVIL/ME/CS/ECE. If you are at Columbia and want to discuss project ideas/research opportunities, feel free to shoot me an email.
</p>
<div>
<!-- <a href="assets/files/cv.pdf">
CV
</a>
/ -->
<a href="https://scholar.google.com/citations?user=qM_o0AkAAAAJ&hl=en">
Google Scholar
</a>
/
<a href="https://www.linkedin.com/in/lei-huang11/">
LinkedIn
</a>
/
<a href="https://x.com/Lei_Huang__">
Twitter
</a>
/
<a href="https://github.com/LeiHHHuang">
Github
</a>
</a>
</div>
</div>
<div style="clear: both;"></div>
</div>
<div class="section" id="updates">
<h1>Updates</h1>
<ul>
<li> <b>Sep 2024</b> One paper "VIRL" was accepted by <a href="https://www.corl.org/home">Conference on Robot Learning (CoRL) 2024</a>. See you in Munich, Germany!
<li> <b>Aug 2024</b> I was the receipt of the <a href="https://airandspace.si.edu/support/get-involved/fellowships/guggenheim">Daniel and Florence Guggenheim Fellowship</a> at Columbia University.
<li> <b>Aug 2024</b> I transferred to <a href="https://www.columbia.edu/">Columbia University</a> to continue my PhD journey!
<li> <b>Oct 2023</b> One paper "Dexterous manipulation of construction tools using anthropomorphic robotic hand" was accepted by <a href="https://www.sciencedirect.com/journal/automation-in-construction">Automation in Construction</a>.
<li> <b>Aug 2023</b> I was the receipt of the <a href="https://students.ubc.ca/enrolment/finances/award-search/vancouver/faculty-applied-science/general/6434">Faculty of Applied Science Graduate Award (Third-year CIV-EX Award)</a> at UBC.
<li> <b>Dec 2022</b> One paper "To imitate or not to imitate" was accepted by <a href="https://www.sciencedirect.com/journal/automation-in-construction">Automation in Construction</a>.
<li> <b>May 2022</b> I was the receipt of the <a href="https://students.ubc.ca/enrolment/finances/award-search/vancouver/faculty-applied-science/general/4891">J.K. Zee Memorial Fellowship</a> at UBC!
<li> <b>May 2022</b> My first-ever paper "Virtual Reality-Based Expert Demonstrations for Training Construction Robots via Imitation Learning" was accepted by <a href="https://csce2022.com/">CSCE 2022</a> and won the <b>Best Student Paper Award</b>, General Conference!
<li> <b>Sep 2021</b> I started my PhD at the University of British Columbia in Vancouver, Canada.
</ul>
<p></p>
<div style="clear: both;"></div>
</div>
<div class="divider"></div>
<div style="display:flex;flex-direction: column;" id="research">
<h1>Research</h1>
<div>
<a style="height: 22em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/virl.mp4" type="video/mp4">
</video>
</a>
<a class="research-proj-title">
VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning
</a>
<p>
<b>Lei Huang</b>,
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<a style="color:#000;" href="https://www.linkedin.com/in/zihanzhuzz">Zihan Zhu</a>,
<a style="color:#000;" href="https://engineering.nyu.edu/faculty/chen-feng">Chen Feng</a>,
<a style="color:#000;" href="https://helge.rhodin.de/index.html">Helge Rhodin</a>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Conference on Robot Learning 2024<br>
<a href="https://leihhhuang.github.io/VIRL/">Website</a> •
<a href="https://openreview.net/forum?id=fDRO4NHEwZ">Paper</a> •
<a href="https://www.youtube.com/watch?v=cOGNhlwFt4w">Video</a>
</p>
</div>
<div>
<a style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/dex_tool.mp4" type="video/mp4">
</video>
</a>
<a href="https://leihhhuang.github.io/DexConstruction/" class="research-proj-title">
Dexterous manipulation of construction tools using anthropomorphic robotic hand
</a>
<p>
<b>Lei Huang</b>,
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<a style="color:#000;" href="https://www.linkedin.com/in/zihanzhuzz">Zihan Zhu</a>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Automation in Construction 2023<br>
<a href="https://leihhhuang.github.io/DexConstruction/">Website</a> •
<a href="https://doi.org/10.1016/j.autcon.2023.105133">Paper</a> •
<a href="https://www.youtube.com/watch?v=cOGNhlwFt4w">Video</a>
</p>
</div>
<div>
<a style="height: 12em;" class="research-thumb">
<img width="320" src="assets/images/roboauditor.png" alt="">
</a>
<a href="https://yesandy.github.io/RoboAuditor/">
RoboAuditor: Goal-Oriented Robotic System for Assessing Energy-intensive Indoor Appliance via Visual Language Models
</a>
<p>
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<b>Lei Huang</b>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Proceedings of the 10th ACM International Conference on Systems for Energy-Efficient Buildings, Cities, and Transportation (BuildSys) 2023<br>
<a href="https://yesandy.github.io/RoboAuditor/">Website</a> •
<a href="https://doi.org/10.1145/3600100.3623739">Paper</a> •
<a href="https://youtu.be/7h3SZ3La-oA">Video</a>
</p>
</div>
<div>
<a style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/AcTeabot.mp4" type="video/mp4">
</video>
</a>
<a class="research-proj-title">
Actively-exploring thermography-enabled autonomous robotic system for detecting and registering HVAC thermal leaks
</a>
<p>
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<b>Lei Huang</b>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Automation in Construction 2023<br>
<a href="https://doi.org/10.1016/j.autcon.2023.104901">Paper</a>
</p>
</div>
<div>
<a style="height: 14em;" class="research-thumb">
<img src="assets/images/imitate.png"
style=" margin-bottom:0px;"
alt="">
</a>
<a class="research-proj-title">
To imitate or not to imitate: Boosting reinforcement learning-based construction robotic control for long-horizon tasks using virtual demonstrations
</a>
<p>
<b>Lei Huang</b>,
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<a style="color:#000;" href="https://www.linkedin.com/in/zihanzhuzz">Zihan Zhu</a>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Automation in Construction 2023<br>
<strong>Best Paper Award</strong> at the Canadian Society for Civil Engineering (CSCE) Annual Conference, Canada, 2022
<p></p>
<a href="https://doi.org/10.1016/j.autcon.2022.104691">Paper</a>
</p>
</div>
<div>
<a style="height: 12em;" class="research-thumb">
<img width="320" src="assets/images/TeaBot.png" alt="">
</a>
<a class="research-proj-title">
TEA-bot: a thermography enabled autonomous robot for detecting thermal leaks of HVAC systems in ceilings
</a>
<p>
<a style="color:#000;" href="https://yesandy.github.io/andycai/">Weijia Cai</a>,
<b>Lei Huang</b>,
<a style="color:#000;" href="https://www.civil.columbia.edu/content/zhengbo-zou">Zhengbo Zou</a>
<br>Proceedings of the 10th ACM International Conference on Systems for Energy-Efficient Buildings, Cities, and Transportation (BuildSys) 2022<br>
<a href="https://doi.org/10.1145/3600100.3623739">Paper</a>
</p>
</div>
<!-- <div>
<a href="https://irp.cs.columbia.edu/" style="height: 12em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/irp_gif_short.mp4" type="video/mp4">
</video>
</a>
<a href="https://irp.cs.columbia.edu/" class="research-proj-title">
Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
</a>
<p>
<b>Cheng Chi</b>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Benjamin Burchfiel</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>,
<br>Robotics: Science and Systems (RSS) 2022<br>
<strong>Best Paper Award</strong> •
<strong>Best Student Paper Finalist</strong> •
<a href="https://irp.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2203.00663">ArXiv</a> •
<a href="https://youtu.be/7h3SZ3La-oA">Video</a>
</p>
</div> -->
<!-- <div>
<a href="https://dextairity.cs.columbia.edu/" style="height: 14em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/dextairty_thumbnail.mp4" type="video/mp4">
</video>
</a>
<a href="https://dextairity.cs.columbia.edu/" class="research-proj-title">
DextAIRity: Deformable Manipulation Can be a Breeze
</a>
<p>
<a style="color:#000;" href="https://www.zhenjiaxu.com">Zhenjia Xu</a>,
<b>Cheng Chi</b>,
<a style="color:#000;" href="http://www.benburchfiel.com/">Benjamin Burchfiel</a>,
<a style="color:#000;" href="https://www.eacousineau.com/">Eric Cousineau</a>,
<a style="color:#000;" href="https://www.cs.cmu.edu/~sfeng/">Siyuan Feng</a>,
<a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>,
<br>Robotics: Science and Systems (RSS) 2022<br>
<strong>Best Systems Paper Finalist</strong> •
<a href="https://dextairity.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2203.01197">ArXiv</a> •
<a href="https://youtu.be/_B0TpAa5tVo">Video</a>
</p>
</div> -->
<!-- <div>
<a href="https://garmentnets.cs.columbia.edu/" style="height: 12em;" class="research-thumb">
<video width="320" height="auto" autoplay loop muted>
<source src="assets/images/garment-nets.mp4" type="video/mp4">
</video>
</a>
<a href="https://garmentnets.cs.columbia.edu/" class="research-proj-title">
GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion
</a>
<p>
<b>Cheng Chi</b>, <a style="color:#000;" href="https://shurans.github.io/">Shuran Song</a>
<br>The IEEE International Conference on Computer Vision (ICCV) 2021<br>
<a href="https://garmentnets.cs.columbia.edu/">Website</a> •
<a href="https://arxiv.org/abs/2104.05177">ArXiv</a> •
<a href="https://www.youtube.com/watch?v=agZ8bzP6Vig">Video</a>
</p>
</div> -->
<!-- <div>
<a class="research-thumb">
<img src="assets/images/cpcpd_teaser.png" alt="">
</a>
<a class="research-proj-title">
Occlusion-robust Deformable Object Tracking without Physics Simulation
</a>
<p>
<b>Cheng Chi</b>, <a style="color:#000;"
href="https://web.eecs.umich.edu/~dmitryb/">Dmitry Berenson</a>
<br>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019<br>
<a href="https://arxiv.org/abs/2101.00733">ArXiv</a> •
<a href="https://github.com/UM-ARM-Lab/cdcpd">Github</a> •
<a href="https://www.youtube.com/watch?v=NehFOkpCEHg">Video</a>
</p>
</div> -->
<div style="clear: both;"></div>
</div>
<!-- <div class="divider"></div>
<div style="display:flex;flex-direction: column;">
<h1>Projects</h1>
<div>
<a href="soft-creatures/index.html" class="research-thumb"><img
src="soft-creatures/gifs/elizabeth-hickey-small.gif" alt=""></a>
<a href="soft-creatures/index.html" class="research-proj-title">Coevolution of Morphology and Policy
Implicit Neural Functions</a>
<p>
<b>Huy Ha</b><br>
<a href="https://github.com/huy-ha/coevolving-neural-networks">Github</a>,
<a href="soft-creatures/index.html">Website</a>
</p>
</div>
<div style="clear: both;"></div>
</div> -->
</tbody></table>
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:0px">
<br>
<p style="text-align:right;font-size:small;">
This website is built on the template by <a href="https://www.cs.columbia.edu/~huy/">Huy Ha</a>.
</p>
</td>
</tr>
</tbody></table>
</div>
</body>
</html>