Publications

Journal Publications

• Chen, Z., Zhang, X., Wang, J., Huang, X. SPPIRO: a Soft, Power-autonomous, Proprioceptive In-pipe Robot for adaptive inspection in complex pipeline environments. npj Robotics, 2026 (Featured Article).
• Zhang, C., Tong, W., Li, M., Huang, X. Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion. IEEE Robotics and Automation Letters, 2025 11(7), pp. 8036-8043, 2026.
• Tong, D., Choi, A., Wang, J., Huang, W., Chen, Z., Li, J., Huang, X., Liu, M., Gao, H., Hsia, K. J. Discrete differential geometry for simulating nonlinear behaviors of flexible systems: A survey. Extreme Mechanics Letters, p. 102430, 2026 (Front Cover).
• Fan, W.#, Wang, J.#, Zhang, H., Wu, Q., Hu, Q., Chen, G., Wang, H., Huang, X. SPARC: A Soft, Proprioceptive, Agile Robot for 3D Climbing and Exploration with Precise Trajectory Following. Advanced Science, 12(41), p.e10382, 2025.
• Mi, J, Tong, W, Ma, Y., Huang, X. Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot. IEEE Robotics and Automation Letters, 2025 10(9), pp. 8626-8633, 2025.
• Tong, W., Lin, T., Mi, J., Jiang, Y., Ghaffari, M., and Huang, X. Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints. IEEE Robotics and Automation Letters, 10(4), pp.4069-4076, 2025.
• Qin, L., Peng, H., Huang, X., Liu, M. and Huang, W. Modeling and simulation of dynamics in soft robotics: A review of numerical approaches. Current Robotics Reports, 5(1), pp.1-13, 2024
• Buckner, T.L., Huang, X. and Kramer‐Bottiglio, R. Untethered, Dynamic Robotic Fabrics Enabled by Actively‐Rigid Variable Stiffness Fibers. Advanced Functional Materials, p.2404431, 2024
• Eristoff, S., Nasab, A.M., Huang, X. and Kramer‐Bottiglio, R. Liquid Metal+ x: A Review of Multiphase Composites Containing Liquid Metal and Other (x) Fillers. Advanced Functional Materials, p.2309529., 2023
• L Qin, H Peng, X Huang, M Liu, and W Huang. "Modeling and simulation of dynamics in soft robotics: A review of numerical approaches", Current Robotics Reports, pp.1-13, 2023.
• L Zhao, Y Wu, W Yan, W Zhan, X Huang, J Booth, A. Mehta. K Bekris, R Kramer-Bottiglio, D Balkcom. "StarBlocks: Soft actuated self-connecting blocks for building deformable lattice structures", Robotics and Automation Letters, 8(8), pp.4521-4528, 2023.
• DK Patel*, X Huang*, Y Luo, M Mungekar, MK Jawed, L Yao, C Majidi. "Highly Dynamic Bistable Soft Actuator for Reconfigurable Multimodal Soft Robots" Advanced Materials Technologies, 8 (2), p. 2201259, 2023 (Front Cover, Editor’s Pick and Best Paper 2022)
• X Huang*, Z Patterson*, A Sabelhaus, K Chin, Z Ren#, MK Jawed, C Majidi. "Design and Closed Loop Motion Planning of an Untethered Swimming Soft Robot using 2D Discrete Elastic Rods Simulations", Advanced Intelligent Systems 4(10), p. 2200163. 2022.
• L. Zhao, Y. Wu, J. Blanchet, M. Perroni-Scharf, X. Huang, J. Booth, R. Kramer and D. Balkcom. "Soft Lattice Modules that Behave Independently and Collectively", IEEE Robotics and Automation Letter, 7 (3), 5942-5949, 2022.
• W. Huang, D. He, D. Tong, Y. Chen, X. Huang, L. Qin, and Q. Fei. "Static Analysis of Elastic Cable Structures under Mechanical Load Using Discrete Catenary Theory", Fundamental Research, 2023.
• Z. Ren, M. Zarepoor, X. Huang, A. Sabelhaus and C. Majidi. "Shape Memory Alloy (SMA) Actuator With Embedded Liquid Metal Curvature Sensor for Closed-Loop Control", Frontiers in Robotics and AI, 8, 599650, 2021.
• Y. Ohm*, C. Pan, M. Ford, X. Huang, J. Liao and C. Majidi. "An Electrically Conductive Silver–Polyacrylamide–Alginate Hydrogel Composite for Soft Electronics", Nature Electronics, 4, 185-192, 2021.
• X. Huang, M. Ford, Z. Patterson, M. Zarepoor, C. Pan and C. Majidi. "Shape Memory Materials for Electrically-Powered Soft Machines", Journal of Materials Chemistry B 8 (21), 4539-4551, 2020.
• W. Huang*, X. Huang*, M. K. Jawed and C. Majidi. "Dynamic Simulation of Articulated Soft Robots", Nature Communication, 11 (1), 1-9, 2020.
• N. N. Goldberg, X. Huang, C. Majidi, A. Novelia, O. M O'Reilly, D. A. Paley, W. L. Scott. "On Planar Discrete Elastic Rod Models for the Locomotion of Soft Robots", Soft Robotics, 6 (5), 595-610, 2019.
• X. Huang, K. Kumar, M. K. Jawed, A. M. Nasab, Z. Ye, W. Shan and C. Majidi. "Highly Dynamic Shape Memory Alloy Actuator for Fast Moving Soft Robots", Advanced Materials Technologies 4 (4), 1800540, 2019.
• X. Huang, K. Kumar, M. K. Jawed, Z. Ye, and C. Majidi. "Soft Electrically Actuated Quadruped (SEAQ)—Integrating a Flex Circuit Board and Elastomeric Limbs for Versatile Mobility", IEEE Robotics and Automation Letters 4 (3), 2415-2422, 2019.
• X. Huang, K. Kumar, M. K. Jawed, A. M. Nasab, W. Shan, and C. Majidi. "Chasing Biomimetic Locomotion Speeds: Creating Untethered Soft Robots with Shape Memory Alloy Actuators", Science Robotics 3 (25), eaau7557, 2018.
• E. J. Markvicka*, M. D. Michael*, X. Huang, and C. Majidi. "An Autonomously Electrically Self-Healing Liquid Metal–Elastomer Composite for Robust Soft-Matter Robotics and Electronics", Nature Materials 17 (7), 618-624, 2018.
• M. D. Bartlett*, N. Kazem*, M. J. Powell-Palm*, X. Huang, W. Sun, J. A. Malen, and C. Majidi. "High thermal conductivity in soft elastomers with elongated liquid metal inclusions", Proceedings of the National Academy of Sciences 114 (9), 2143-2148, 2017.

Conference Proceedings

• X., Xu, F., Xue, X., Li, H., Li, S., Yang, T., Zhang, M. Johnson-Roberson, X. Huang. "One Scene, Two Depths: Probing Geometric Ambiguity in Monocular Foundation Models", 2026 The 19th European Conference on Computer Vision (ECCV), accepted.
• H., Nguyen, X., Xu, X. Huang. "The 3D Mirage: Probing and Taming 3D Hallucinations", 2026 The 19th European Conference on Computer Vision (ECCV), accepted.
• Z., Charlick, N., Choudhury, H., Ma, X., Huang, D., Berenson. "STEMbot: A Compliant Robot for Under-Canopy Plant Navigation", 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.
• A., Choi, D., Tong, X. Huang. "Rapidly Learning Soft Robot Control via Implicit Time-Stepping", 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.
• W., Tong, J., Mi, X., Yi, N., Fazeli, X. Huang. "Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots", 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.
• D. Tong, J. Wang, H. Zhou, Y. Shen, X. Huang, M. K. Jawed. "Neural Control: Adjoint Learning Through Equilibrium Constraints", 2026 International Conference on Machine Learning (ICML), accepted.
• C. Chen, X. Xu, X. Wang, J. Wang, X. Huang "Natural Selection via Foundation Models for Soft Robot Evolution", 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), pp. 1460-1497.
• D. H. Han, X. Xu, Y. Chen, Y. Zhou, X. Zhang, J. Wang, D. Bruder, X. Huang "Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping", 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft).
• N. R. Choudhury, X. Huang "SlipStream: A Soft-Tread Robot for Fast, Agile Movement in Small-Diameter Conduits", 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), pp. 956-961.
• W. Tong, Y. Jiang, C. Zhang, M. Ghaffari, X. Huang "Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Neural Network", 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), pp. 558-564.
• R. Hasan, B. Davis, K. Marri, X. Huang "A Cost-Efficient Fabric-Embedded Resistive Soft Sensor for Grid-Based Contact Localization", 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), pp. 591-596.
• J. Wang, Y. You, X. Zhang, H. Fang, J. Wang, X. Huang. "Origami Inspired Soft Robotic Arm: A Modular Platform for Manipulation", 2025 International Conference on Robotics and Automation (ICRA), Soft Robotics for Space Applications (Best Poster Award).
• X. Xu, Y. Li, T. Zhang, J. Yang, M. Johnson-Roberson, X. Huang. "Unified Self-supervised Representation Learning for Multi-modal and Single-modal 3D Perception", 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE) pp. 2881-2888.
• Zhang, H., Wang, X., Xu, X., Huang, X., Gao, C., Wang, Y., Zhang, S. and Sang, N., "Glancevad: Exploring glance supervision for label-efficient video anomaly detection", In 2025 IEEE International Conference on Multimedia and Expo (ICME) (pp. 1-6).
• Y.S. Narayanan, Y. Ma, R.B. Gillespie, M. Draelos, X. Huang. "Adaptive Self-sealing Soft Robotic Face Mask (SRFM) with Particle Jamming", 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft),pp. 1-6.
• X. Xu, F. Xue, X. Li, H. Li, S. Yang, T. Zhang, M. Johnson-Roberson, X. Huang. "Towards Multi-Hypothesis Spatial Foundation Model: Rethinking and Decoupling Spatial Ambiguity via Laplacian Visual Prompting", ICLR 2025, Workshop (Accepted).
• C. Chen, X. Xu, X. Wang, X. Huang. "Large Language Models as Natural Selector for Embodied Soft Robot Design", Accepted.
• X. Xu, Y. Cao, Y. Chen, W. Shen, X. Huang. "Customizing Visual-Language Foundation Models for Multi-modal Anomaly Detection and Reasoning", 2025 IEEE 28th International Conference on Computer Supported Cooperative Work in Design (CSCWD) (Best Student Paper).
• X. Xu, F. Xue, S. Zhao, Y. Pan, S. Scherer, X. Huang. "MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction", The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 854-863, 2025.
• W. Li, B. Zheng, X. Xu, J. Gan, F. Lu, X. Li, N. Ni, Z. Tian, X. Huang, S. Gao, Y. Wu. "Multi-Sensor Object Anomaly Detection: Unifying Appearance, Geometry, and Internal Properties", The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 9984-9993, 2025.
• W. Li, Y. Gao, X. Chen, X. Xu, M. Hu, X. Huang, Y. Wu. "Towards Visual Discrimination and Reasoning of Real-World Physical Dynamics: Physics-Grounded Anomaly Detection", The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 30409-30419, 2025.
• H. Zhang, X. Xu, X. Wang, J. Zuo, X. Huang, C. Gao, S. Zhang, L. Yu, N. Sang. "Holmes-VAU: Towards Long-term Video Anomaly Understanding at Any Granularity", The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 13843-13853. 2025.
• X. Xu, T. Zhang, S. Zhao, X. Li, S. Wang, Y. Chen, Y. Li, B. Raj, M. Johnson-Robterson, S. Scherer, X. Huang. "Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video", In the Thirteenth International Conference on Learning Representations (ICLR) 2025.
• Y. Li, W. Zheng, X. Huang, K. Keutzer. "UniDrive: Towards Universal Driving Perception Across Camera Configurations", In the Thirteenth International Conference on Learning Representations (ICLR) 2025.
• X. Li, K. Qiu, J. Wang, X. Xu, R. Singh, K. Yamazaki, H. Chen, X. Huang, B. Raj. "R²-Bench: Benchmarking the Robustness of Referring Perception Models Under Perturbations. In European Conference on Computer Vision" (ECCV), pp. 211-230, 2025 Springer, Cham.
• Y. Li, L. Kong, H. Hu, X. Xu, X. Huang. "Is Your LiDAR Placement Optimized for 3D Scene Understanding?", The Thirty-eighth Annual Conference on Neural Information Processing Systems (NeurIPS), 2024.
• Y. Li, H. Hu, Z. Liu, X. Xu, X. Huang, D. Zhao. "Influence of camera-lidar configuration on 3d object detection for autonomous driving.", International Conference on Robotics and Automation (ICRA) pp. 9018-9025, 2024.
• K. Wang, WR Johnson, S. Lu, X. Huang, J Booth, R. Kramer-Bottiglio, K. Bekris. "Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine", International Conference on Intelligent Robots (IROS), pp. 2534-2541, 2023.
• WR Johnson, A. Agrawala, X. Huang, J. Booth, R. Kramer-Bottiglio. "Sensor Tendons for Soft Robot Shape Estimation", IEEE Sensors 2022 , pp. 1-4. (Best Paper Award)
• X. Huang, WR Johnson, J. Booth, R. Kramer-Bottiglio. "Live Demonstration: Tensegrity State Estimation", IEEE Sensors 2022 , pp. 1-1.
• S. Lu, W. R. Johnson III, K. Wang, X. Huang, J. Booth, R. Kramer-Bottiglio, K. Bekris. "6N-DoF Pose Tracking for Tensegrity Robots", ISRR 2022.
• X. Huang*, W. Huang*, Z. Patterson, Z. Ren, M. K. Jawed and C. Majidi. "Numerical Simulation of an Untethered Omni-Directional Star-Shaped Swimming Robot", 2021 IEEE International Conference on Robotics and Automation (ICRA), 11884-11890.
• X. Huang, Z. Ren and C. Majidi. "Soft Thermal Actuators with Embedded Liquid Metal Microdroplets for Improved Heat Management", 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 367-372.

Patent

• B. Yang, R. Baines, X. Huang, R. Kramer-Bottiglio, D. Shah. "Tensile Jamming Fibers"