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Hehui Zheng

5 accepted papers

2026

PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics

Jan Obrist, Miguel Angel Zamora Mora, Hehui Zheng, Ronan Hinchet, Firat Ozdemir, Juan Jose Zarate +2
ICRA 2026poster

Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose PokeFlex, a dataset featuring real-world multimodal data that …

Cited by 0Source ↗PDF ↗Scholar ↗
2021

Learning to Fly—a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadcopter Control

Jacopo Panerati, Hehui Zheng, SiQi Zhou, James Xu, Amanda Prorok, Angela P. Schoellig
IROS 2021poster

Robotic simulators are crucial for academic research and education as well as the development of safety-critical applications. Reinforcement learning environments— simple simulations coupled with a problem specification in the form of a reward function—are also important to standardize the developme…

Cited by 226Source ↗code ↗Scholar ↗
2020

An Adversarial Approach to Private Flocking in Mobile Robot Teams

Hehui Zheng, Jacopo Panerati, Giovanni Beltrame, Amanda Prorok
RA-L 2020

Privacy is an important facet of defence against adversaries. In this letter, we introduce the problem of private flocking. We consider a team of mobile robots flocking in the presence of an adversary, who is able to observe all robots' trajectories, and who is interested in identifying the leader.

Cited by 31Source ↗code ↗Scholar ↗
2020

DSNAS: Direct Neural Architecture Search Without Parameter Retraining

Shoukang Hu, Sirui Xie, Hehui Zheng, Chunxiao Liu, Jianping Shi, Xunying Liu +1
CVPR 2020poster

If NAS methods are solutions, what is the problem? Most existing NAS methods require two-stage parameter optimization. However, performance of the same architecture in the two stages correlates poorly. In this work, we propose a new problem definition for NAS, task-specific end-to-end, based on this…

Cited by 184PDF ↗code ↗Scholar ↗