Chenghao Wang

I am a Ph.D. student in Computer Engineering at Northeastern University, where I work with Prof. Alireza Ramezani. My research interests lie at the intersection of robotics, machine learning, and hardware — particularly policy design that enables polyarticular mechanisms to achieve agile physical behavior. My long-term goal is to develop agile, intelligent, and robust controls that ultimately achieve and surpass human-level intelligence.

Boston, MA, USA wang.chengh@northeastern.edu
Chenghao Wang

News

  • May 2026Start my internship at Dexterous AI Group at Analog Devices (ADI).
  • Jan 2026Start my internship at Mitsubishi Electric Research Laboratories (MERL).
  • Oct 2025Delivered two oral presentations at IROS 2025.
  • Jun 2025Two papers accepted by IROS 2025.
  • Jun 2025One paper accepted by RA-L.
  • May 2025Start my internship at Mitsubishi Electric Research Laboratories (MERL).
  • Jan 2025Three papers accepted by ACC 2025, including one oral.
  • Dec 2024Passed the qualification exam. I am now officially a PhD candidate!
  • Sep 2024One paper accepted by Humanoids 2024.
  • Sep 2024One paper accepted by CoRL 2024.
  • Jul 2024Received student travel award from AIM 2024.
  • Apr 2024Two papers accepted by AIM 2024.
  • Jan 2024One paper accepted by ACC 2024.

Experience

Analog Devices, Inc. (ADI)
Research Intern · Dexterous AI Group
May 2026 – Present
Mitsubishi Electric Research Laboratories (MERL)
Research Intern
Jan 2026 – May 2026  ·  May 2025 – Aug 2025

Publications

2026
  • C. Wang and A. Ramezani*, "Dexterous Ball Throwing on a Humanoid Robot via Hierarchical Optimization and RL." (in submission)
  • Y. Wang, C. Wang, Z. Teng, H. Xiao, X. Li, A. Ramezani, J. Du, and Y. Ye*, "Thinking on Its Feet: Terrain-Aware Hierarchical Control with Proprioceptive Feedback for Humanoid Navigation." (in submission)
  • IFAC WC 2026 C. Wang, D. Romeres, A. Schperberg, N. Li, and Y. Wang*, "Constrained Sampling MPC for Safe Contact-Rich Control: From Exploration to Precision via Hybrid Refinement," 2026 IFAC World Congress, Busan, Republic of Korea, August 23–28, 2026.
2025
  • IROS 2025 C. Wang and A. Ramezani, "Thruster-Enhanced Locomotion: A Decoupled Model Predictive Control with Learned Contact Residuals," 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, October 19–25, 2025.
  • IROS 2025 C. Wang, K. V. Krishnamurthy, S. Pitroda, A. Salagame, I. Mandralis, E. Sihite, A. Ramezani, and M. Gharib, "Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing," 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, October 19–25, 2025.
  • RA-L M. Jia, H. Huang, Z. Zhang, C. Wang, L. Zhao, D. Wang, J. X. Liu, R. Walters, R. Platt, and S. Tellex, "Learning Efficient and Robust Language-conditioned Manipulation using Textual-Visual Relevancy and Equivariant Language Mapping," IEEE Robotics and Automation Letters (RA-L).
  • ACC 2025 C. Wang, E. Sihite, K. V. Krishnamurthy, S. Pitroda, A. Salagame, A. Ramezani, and M. Gharib, "Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways," 2025 American Control Conference (ACC), Denver, CO, June 4–6, 2025.
  • ACC 2025 K. V. Krishnamurthy, C. Wang, S. Pitroda, A. Salagame, E. Sihite, A. Ramezani*, and M. Gharib, "Thruster-Assisted Incline Walking of a Legged-Aerial Robot Using Reduced Order Model and Collocation Method," 2025 American Control Conference (ACC), Denver, CO, June 4–6, 2025.
  • ACC 2025 S. Pitroda, E. Sihite, K. V. Krishnamurthy, C. Wang, A. Salagame, A. Ramezani*, and M. Gharib, "Conjugate momentum based thruster force estimate in dynamic multimodal robot," 2025 American Control Conference (ACC), Denver, CO, June 4–6, 2025.
2024
  • Humanoids 2024 E. Sihite, S. Pitroda, T. Liu, C. Wang, K. V. Krishnamurthy, A. Salagame, A. Ramezani, and M. Gharib, "Posture manipulation of thruster-enhanced bipedal robot performing dynamic wall-jumping using model predictive control," 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nancy, France, November 22–24, 2024.
  • CoRL 2024 B. Hu, X. Zhu*, D. Wang*, Z. Dong*, H. Huang*, C. Wang*, R. Walters, and R. Platt, "OrbitGrasp: SE(3)-Equivariant Grasp Learning," 2024 Conference on Robot Learning (CoRL), Munich, Germany, November 6–9, 2024.
  • AIM 2024 K. V. Krishnamurthy, C. Wang, S. Pitroda, A. Salagame, E. Sihite, R. Nemovi, A. Ramezani, M. Gharib, "Narrow-Path, Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, July 15–18, 2024.
  • AIM 2024 S. Pitroda, A. Bondada, K. Venkatesh, A. Salagame, C. Wang, E. Sihite, R. Nemovi, A. Ramezani, and M. Gharib, "Capture Point Control in Thruster Assisted Bipedal Locomotion," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, July 15–18, 2024.
  • ACC 2024 A. Salagame, M. Gianello, C. Wang, K. Venkatesh, S. Pitroda, R. Rajput, E. Sihite, M. Leeser, A. Ramezani, "Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method," American Control Conference (ACC), Toronto, Canada, July 8–12, 2024.
  • Workshop M. Jia, H. Huang, Z. Zhang, C. Wang, L. Zhao, D. Wang, J. X. Liu, R. Walters, R. Platt, and S. Tellex, "Equivariant Open-vocabulary Pick and Place via Language Kernels and Patch-level Semantic Maps," 2024 RSS Workshop on Task Specification for General-Purpose Intelligent Robots, Delft, Netherlands, July 19, 2024.