Lingfeng Sun

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Ph.D. Candidate,
Mechanical System Control Lab,
UC Berkeley

Email: lingfengsun [AT] berkeley [DOT] edu

Google Scholar / CV

About me

I am a PhD student in robotics at University of California, Berkeley adviced by Prof. Masayoshi Tomizuka. I received B.S. in Mechanical Engineering from University of Michigan, Ann Arbor, and B.S. in Electrical and Computer Engineering from Joint Institute, Shanghai Jiao Tong University.

My research interest lies in Robotics (skill learning, control and optimization) and Autonomous driving (prediction, behavior generation).

Experience

Research Intern, Mitsubishi Electrical Research Laboratories, 05/2023 - 09/2023

AI Resident, Everyday Robots (Google X), 05/2022 - 12/2022

Research Intern, Horizon Robotics, 05/2021 - 04/2022

Teaching

Graduate Student Instructor, ME 232 Advanced Control Systems I, UC Berkeley, Fall 2022
Graduate Student Instructor, ME 233 Advanced Control Systems II, UC Berkeley, Spring 2024

Selected Research

Robot Skill Learning [-]

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LLM-POP: Large Language Model for Partially Observable Task Planning
Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres
ICRA 2024
Honorable Mention, Workshop on Instruction Tuning and Instruction Following, NeurIPS 2023
[Paper]

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PaCo: Parameter-Compositional Multi-Task Reinforcement Learning
Lingfeng Sun*, Haichao Zhang*, Wei Xu, Masayoshi Tomizuka
NeurIPS 2022
[Website] [Paper] [Code]

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Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
Lingfeng Sun*, Haichao Zhang*, Wei Xu, Masayoshi Tomizuka
Robotics and Automation Letters
[Paper]

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Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Xinghao Zhu, Devesh K. Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian
ICRA 2024
[Paper]

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Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning
Xiang Zhang*, Changhao Wang*, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka
CoRL 2023
[Website] [Paper]

Multi-agent Interaction Generation [-]

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Distributed Multi-agent Interaction Generation with Imagined Potential Games
Lingfeng Sun, Pin-Yun Hung, Changhao Wang, Masayoshi Tomizuka, Zhuo Xu
ACC 2024
[Website] [Paper]

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Diverse Critical Interaction Generation for Planning and Planner Evaluation
Lingfeng Sun*, Zhao-Heng Yin*, Liting Sun, Masayoshi Tomizuka, Wei Zhan
IROS 2021
[Paper]

Grasp Planning [-]

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A Simple Approach for General Task-Oriented Picking using Placing constraints
Lingfeng Sun*, Jen-Wei Wang*, Xinghao Zhu, Qiyang Qian, Masayoshi Tomizuka
Under review [Paper]

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6-dof contrastive grasp proposal network
Lingfeng Sun*, Xinghao Zhu*, Yongxiang Fan, Masayoshi Tomizuka
ICRA 2021 [Paper]

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Learn to grasp with less supervision: A data-efficient maximum likelihood grasp sampling loss
Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen, Masayoshi Tomizuka
ICRA 2022 [Paper]

Behavior Prediction [-]

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Domain knowledge driven pseudo labels for interpretable goal-conditioned interactive trajectory prediction
Lingfeng Sun*, Chen Tang*, Yaru Niu, Enna Sachdeva, Chiho Choi, Teruhisa Misu, Masayoshi Tomizuka, Wei Zhan
IROS 2022
[Paper]

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Pretram: Self-supervised pre-training via connecting trajectory and map
Chenfeng Xu, Tian Li, Chen Tang, Lingfeng Sun, Kurt Keutzer, Masayoshi Tomizuka, Alireza Fathi, Wei Zhan
ECCV 2022
[Paper]

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Interactive prediction for multiple, heterogeneous traffic participants with multi-agent hybrid dynamic bayesian network
Lingfeng Sun, Wei Zhan, Di Wang, Masayoshi Tomizuka
ITSC 2019
[Paper]