Event
Future Leaders in Robotics and AI Seminar: Sheng Cheng
Friday, April 18, 2025
2:00 p.m.-2:30 p.m.
https://go.umd.edu/FutureLeaders
Yancy Diaz-Mercado
301 405 6506
yancy@umd.edu
DiffTune: Auto-Tuning through Auto-Differentiation
Sheng Cheng
Postdoctoral Fellow
University of Illinois Urbana Champaign
Abstract
The performance of robots in high-level tasks is fundamentally tied to the quality of their low-level controllers, which often require fine-tuning. However, the nonlinear nature of robotic dynamics and controllers makes manual tuning a challenging and time-consuming process. In this talk, I will present our recent advances in controller auto-tuning leveraging auto-differentiation. I will also discuss the application of DiffTune to optimization-based controllers, such as model predictive control, highlighting its potential to streamline and enhance the tuning process.
Biography
Sheng Cheng received the B.Eng. degree in Control Science and Engineering from the Harbin Institute of Technology in China, and the Ph.D. degree in Electrical Engineering from the University of Maryland, College Park. He is now a Postdoctoral Research Associate with the University of Illinois Urbana–Champaign. His research interests include aerial robotics, safe learning for control, aerial manipulation, advanced air mobility, adaptive control, and optimization.
About the Seminar Series
The Maryland Robotics Center's Future Leaders in Robotics and AI Seminar Series at the University of Maryland is a nationwide online seminar series for PhD students, postdoctoral researchers, and early-career professionals. The seminar series highlights the latest research and innovation in the field of robotics and AI. The series is intended to provide exposure and mentorship opportunities to the speakers, build a network of innovators across the country, and support the speakers’ career planning.
The seminars are held on select dates during spring. There are two speakers per seminar. Each speaker gives a 20-minute research presentation followed by a Q&A segment. Immediately after the second seminar, the speakers participate in a discussion with faculty. For more information, please visit: https://robotics.umd.edu/FutureLeaders
