Duo Zhang

1 Spring Street

Office #332

New Brunswick, NJ 08901

My name is Duo Zhang (张多) and I am a fourth-year Ph.D. candidate at the Computer Science Department of Rutgers University. Here, I am advised by Prof. Jingjin Yu in the Algorithmic Robotics and Control Lab(ARC-L).

Before this, I got my M.S. degree at the Courant Institute of Mathematical Sciences of New York University. I worked with Prof. Daniele Panozzo from the Geometry Computing Lab and Prof. Lerrel Pinto from CILVR group on Deep Reinforcement Learning, Physical Simulation and Robotics.

Prior to my master’s degree, I got my Bachelor degree of Engineering from the Computer Science and Technology department at Shandong University. At that time, I was a research assistant in Interdisciplinary Research Center working with Prof. Changhe Tu, Dr. Zherong Pan and Dr. Xifeng Gao Grasp Planning Problems.

Research Intersets

Manipulation, Motion Planning, Grasp Planning, Deep Reinforcement Learning, Physical Simulation

news

Jan 31, 2026	My paper High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement got accepted to ICRA 2026.
Jan 27, 2025	My paper Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot got accepted to ICRA 2025.
Apr 10, 2024	My paper Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision got accepted to IEEE TR-O.
Sep 03, 2023	I started as a PhD student at Rutgers!

selected publications

dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments

Duo Zhang, Hechen Zhang, Junshan Huang, and 1 more author

arXiv preprint arXiv:2609.31412, 2026

arXiv Bib PDF

@article{zhang2026drvg,
  title = {{dRVG}: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments},
  author = {Zhang, Duo and Zhang, Hechen and Huang, Junshan and Yu, Jingjin},
  journal = {arXiv preprint arXiv:2609.31412},
  year = {2026},
  url = {https://arxiv.org/abs/2609.31412},
}

ST-pRRTC: Parallel Space-Time RRT-C with Adaptive Goal-Time Forests

Duo Zhang, Jintong Li, Junshan Huang, and 1 more author

arXiv preprint arXiv:2609.30533, 2026

arXiv Bib PDF

@article{zhang2026stprrtc,
  title = {{ST-pRRTC}: Parallel Space-Time {RRT-C} with Adaptive Goal-Time Forests},
  author = {Zhang, Duo and Li, Jintong and Huang, Junshan and Yu, Jingjin},
  journal = {arXiv preprint arXiv:2609.30533},
  year = {2026},
  url = {https://arxiv.org/abs/2609.30533},
}

Efficient Bézier Velocity Optimization for Free-Floating Space Manipulators

Duo Zhang, Zhizhuo Zhang, Xiaoli Bai, and 1 more author

2026

FAVOR. Manuscript; arXiv and project links coming soon.

Bib

@unpublished{zhang2026favor,
  title = {Efficient B{\'e}zier Velocity Optimization for Free-Floating Space Manipulators},
  author = {Zhang, Duo and Zhang, Zhizhuo and Bai, Xiaoli and Yu, Jingjin},
  year = {2026},
  note = {FAVOR. Manuscript; arXiv and project links coming soon.},
}

Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision

Duo Zhang, Chen Liang, Xifeng Gao, and 2 more authors

IEEE Transactions on Robotics, 2024

Bib PDF

@article{zhang2024provably,
  title = {Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision},
  author = {Zhang, Duo and Liang, Chen and Gao, Xifeng and Wu, Kui and Pan, Zherong},
  journal = {IEEE Transactions on Robotics},
  year = {2024},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/10505800},
}

Planning of power grasps using infinite program under complementary constraints

Zherong Pan, Duo Zhang, Changhe Tu, and 1 more author

IEEE Robotics and Automation Letters, 2022

Bib PDF

@article{pan2021planning,
  title = {Planning of power grasps using infinite program under complementary constraints},
  author = {Pan, Zherong and Zhang, Duo and Tu, Changhe and Gao, Xifeng},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {1},
  pages = {650--657},
  year = {2022},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/9626457},
}

Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot

Duo Zhang, Zihe Ye, and Jingjin Yu

ICRA, 2025

Bib PDF Website

@article{zhang2025asymptotically,
  title = {Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot},
  author = {Zhang, Duo and Ye, Zihe and Yu, Jingjin},
  journal = {ICRA},
  year = {2025},
  publisher = {IEEE},
}

High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement

Duo Zhang, Junshan Huang, and Jingjin Yu

ICRA, 2026

Bib PDF Website

@article{zhang2026high,
  title = {High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement},
  author = {Zhang, Duo and Huang, Junshan and Yu, Jingjin},
  journal = {ICRA},
  year = {2026},
  publisher = {IEEE},
}