Zixuan Zhuang

I am an incoming Ph.D. student at the Hong Kong University of Science and Technology, under the supervision of Prof. Tan Ping. Currently, I am pursuing my Master's degree at Sun Yat-sen University, advised by Prof. Hui Cheng. Previously, I was a visiting student the National University of Singapore, under the supervision of Prof. Fan Shi. I was also a visiting student in the STAR Group at Sun Yat-sen University, working with Prof. Boyu Zhou. I received my Bachelor's degree in Electrical Engineering and Automation from Northeastern University in 2023.

Email / Google Scholar / Github

Robots I've Worked On

RoboMaster Robot	Unitree Go2
Mobile Manipulator	Quadrotor

Honors

2025 - ICRA 2025 Travel Grant
2022 - IEEE ICRA RoboMaster University AI Challenge - First Prize / Third Place
2023 - Outstanding Graduate Student Award

Research

My research interests focus on locomotion and loco-manipulation for humanoid robots. Below are some representative projects and research works.

	SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion Aoqian Zhang^, Zixuan Zhuang^, Chunzheng Wang, Shuzhi Sam Ge, Fan Shi, Cheng Xiang^† Under Review, 2026 PDF / An end-to-end joint-level locomotion policy with adjustable compliance, enabling adaptive motion under external forces while ensuring velocity tracking and robustness against large disturbances.
	Motion Planning for Mobile Manipulators in Unknown Environments Zixuan Zhuang Master Thesis, 2026 A Real-Time Trajectory Planning Method for Mobile Manipulators with Hard Constraints.
	RM-Planner: Integrating Reinforcement Learning with Whole-Body Model Predictive Control for Mobile Manipulation Zixuan Zhuang^, Le Zheng^, Wanyue Li, Renming Liu, Peng Lu, Hui Cheng^† IEEE International Conference on Robotics & Automation (ICRA), 2025 video / PDF / We propose a mobile manipulation framework that integrates reinforcement learning with whole-body model predictive control for operation in unknown and complex environments.
	Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments Yiming Luo, Zixuan Zhuang, Neng Pan, Chen Feng, Shaojie Shen, Fei Gao, Hui Cheng, Boyu Zhou^† IEEE Robotics and Automation Letters (RA-L), 2024 video / PDF / We propose Star-Searcher, a hierarchical UAV-based target search system that combines viewpoint clustering and history-aware planning to achieve efficient and complete search in complex unknown environments.

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