Weize Zhang — accepted AI-conference papers

2026

CAPS: Context-Aware Priority Sampling for Enhanced Imitation Learning in Autonomous Driving

Hamidreza Mirkhani, Behzad Khamidehi, Ehsan Ahmadi, Mohammed Elmahgiubi, Weize Zhang, Fazel Arasteh +3

ICRA 2026poster

In this paper, we introduce Context-Aware Priority Sampling (CAPS), a novel method designed to enhance data efficiency in learning-based autonomous driving systems. CAPS addresses the challenge of imbalanced datasets in imitation learning by leveraging Vector Quantized Variational Autoencoders (VQ-V…

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2025

Validity Learning on Failures: Mitigating the Distribution Shift in Autonomous Vehicle Planning

Fazel Arasteh, Mohammed Elmahgiubi, Behzad Khamidehi, Hamidreza Mirkhani, Weize Zhang, Tongtong Cao +1

ICRA 2025

The planning problem constitutes a fundamental aspect of the autonomous driving framework. Recent strides in representation learning have empowered vehicles to comprehend their surrounding environments, thereby facilitating the integration of learning-based planning strategies. Among these approache

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2021

Force-Controlled Mechanical Stimulation and Single-Neuron Fluorescence Imaging of Drosophila Larvae

Weize Zhang, Peng Pan, Xin Wang, Yixu Chen, Yong Rao, Xinyu Liu

RA-L 2021

Studying the neural response of a Drosophila larva to touch stimulation could decipher neural basis of the creature's danger-escaping behaviors. This letter reports force-controlled robotic mechanical stimulation and single-neuron fluorescence imaging of Drosophila larvae. A force control architectu

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2016

A model compensation-prediction scheme for control of micromanipulation systems with a single feedback loop

Weize Zhang, Juntian Qu, Xinyu Liu

ICRA 2016

Many micromanipulation systems employ sensorless actuators and possess unknown modeling errors, feedback measurement noise, and time delays. Conventional modelbased control schemes ignore some of these characteristics, and thus sacrifice the control performance of the system. This paper presents a n

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2015

Switched fuzzy-PD control of contact forces in robotic micromanipulation of Drosophila larvae

Weize Zhang, Xianke Dong, Xinyu Liu

ICRA 2015poster

Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in me…

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