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title
Xianyi Cheng
description
About me
image
site name
Xianyi Cheng
author
Xianyi Cheng
updated
2026-03-07 17:22:59
raw text
Xianyi Cheng Xianyi Cheng | Roboticist @ Duke Xianyi Cheng Xianyi Cheng Roboticist @ Duke Follow Email Github Google Scholar Xianyi Cheng 程先仪 Hi, I’m Xianyi (she-an-yee). I am an Assistant Professor in the MEMS department at Duke University. I recently obtained my PhD from Carnegie Mellon University, where I was advised by Professor Matthew T. Mason . I’m interested in everything about robotic manipulation. It is usually surprising to many people that, while AIs have achieved superhuman performance in some areas, robots struggle with manipulation tasks that are extremely easy to humans ( Moravec’s paradox ). My ultimate research goal is to bring human-level dexterity to robotic manipulation. Previously, my PhD work focused on dexterous manipulation motion generation — the first step toward general manipulation intelligence. Publications Caging in Motion: Characterizing Robustness in Manipulation through Energy Margin and Dynamic Caging Analysis Yifei Dong, ...
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