About Publications Awards & Honors Professional Activities


Jun Zeng (曾俊)

I am passionate about building robotic systems and developing algorithms that enable intelligent decision-making and agile responses in complex, dynamic environments. I focus on translating cutting-edge research into real-world applications with a mission-driven mindset. My work combines methodologies from motion planning, trajectory generation, and machine/deep learning for a wide range of robotics applications. Currently, I am working at Cruise, where I develop autonomy algorithms for self-driving vehicles.

Prior to this, I pursued my Ph.D. in the Hybrid Robotics Group, under the supervision of Professor Koushil Sreenath at the University of California, Berkeley. My research focused on model-based optimization and learning methods for robotic systems, with applications across various platforms, including aerial and legged robots. Before joining UC Berkeley, I earned a Diplôme d'Ingénieur from École Polytechnique in June 2017, and a B.S.E. in Mechanical Engineering and Automation from Shanghai Jiao Tong University (SJTU) in June 2016. I have also completed internships at Waymo, PlusAI, and Valeo.

Email / Google Scholar / GitHub / LinkedIn / Twitter

Selected Publications

See latest publications on my Google Scholar page.

Legged Robots & Humanoids

Vision-Aided Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments
Zhongyu Li, Jun Zeng, Shuxiao Chen, Koushil Sreenath
International Journal of Robotics Research (IJRR), 2023
ArXiv / YouTube

Adapting Rapid Motor Adaptation for Bipedal Robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, Jitendra Malik
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
ArXiv / YouTube

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath
Robotics: Science and Systems (RSS), 2022
ArXiv / YouTube / Webpage

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
Chenyu Yang, Guo Ning Sue, Zhongyu Li, Lizhi Yang, Haotian Shen, Yufeng Chi, Akshara Rai, Jun Zeng, Koushil Sreenath
IEEE Robotics and Automation Letters (RA-L), 2022
Publisher / ArXiv / YouTube

Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Lizhi Yang*, Zhongyu Li*, Jun Zeng, Koushil Sreenath
IEEE International Conference on Robotics and Automation (ICRA), 2022
ArXiv / YouTube

A Quadrupedal Robot Leading Human with Leash-Guided Hybrid Physical Interaction
Anxing Xiao*, Wenzhe Tong*, Lizhi Yang*, Jun Zeng, Zhongyu Li, Koushil Sreenath
IEEE International Conference on Robotics and Automation (ICRA), 2021
Best Paper Award in Service Robotics — Finalist
ArXiv / YouTube

Control, Optimization & Formal Methods

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
IEEE American Control Conference (ACC), 2022
ArXiv / YouTube

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam*, Jun Zeng*, Koushil Sreenath
IEEE International Conference on Robotics and Automation (ICRA), 2022
ArXiv / YouTube / GitHub

Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng*, Zhongyu Li*, Koushil Sreenath
IEEE Conference on Decision and Control (CDC), 2021
Publisher / ArXiv / GitHub

Safety-Critical Control with Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility
Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath
IEEE American Control Conference (ACC), 2021
Publisher / ArXiv / GitHub

Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function
Jun Zeng*, Bike Zhang*, Koushil Sreenath
IEEE American Control Conference (ACC), 2021
Publisher / ArXiv / GitHub / NorCal Control Workshop

Awards & Honors

  • Chin Leung Shui Chun Fellowship, UC Berkeley, 2021
  • Graduate Division Block Fellowship, UC Berkeley, 2020-2021
  • Mechanical Engineering Department Award, UC Berkeley, 2020
  • X Fondation Fellowship, Ecole Polytechnique, 2015-2017
  • Ardian Excellence Scholarship, SJTU, 2014

Professional Activities

Teaching

  • EECS106B/206B - Robotic Manipulation and Interaction (Spring 2020)
  • EECS106A/206A - Introduction to Robotics (Fall 2019)

Peer Reviews

  • Robotics Journal / Conferecen Reviewer: IJRR, TR-O, Auto. Robots, RA-L, ICRA, IROS.
  • AI Journal / Conference Reviewer: CoRL, AAAI, NeurIPS, ICML, ICLR.
  • Control Journal / Conference Reviewer: TAC, Automatica, T-CST, T-CNS, L-CSS, J. Dyn. Sys., Meas., Control, ACC, CDC, ICUAS.