Ian Chuang

EECS PhD student at UC Berkeley, advised by Claire Tomlin and Iman Soltani. I work on robot learning, and I’m interested in dexterous manipulation, active perception, and learning safety for high-dimensional systems.

Publications

Dexterous In-Hand Object Pose Reaching with Learned Safety Filters

Ian Chuang, Hiya Shah, Vamsi Chilamkur, Iman Soltani, Claire Tomlin

arXiv

arXiv Website

Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers

Ian Chuang, Jinyu Zou, Andrew Lee, Dechen Gao, Iman Soltani

ICRA 2026

arXiv Website Code

VITA: Vision-to-Action Flow Matching Policy

Dechen Gao, Boqi Zhao, Andrew Lee, Ian Chuang, Hanchu Zhou, Hang Wang, Zhe Zhao, Junshan Zhang, Iman Soltani

ICLR 2026

arXiv Website Code

Gaze on the Prize: Shaping Visual Attention with Return-Guided Contrastive Learning

Andrew Lee, Ian Chuang, Dechen Gao, Kai Fukazawa, Iman Soltani

arXiv

Mechanistic Interpretability for Steering Vision-Language-Action Models

Bear Häon, Kaylene Stocking, Ian Chuang, Claire Tomlin

CoRL 2025

arXiv Website Code

Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation

Ian Chuang, Andrew Lee, Dechen Gao, Mahdi Naddaf, Iman Soltani

ICRA 2025

arXiv Website Code

InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation

Andrew Lee, Ian Chuang, Ling-Yuan Chen, Iman Soltani

CoRL 2024

arXiv Website Code

Hierarchical end-to-end autonomous navigation through few-shot waypoint detection

Amin Ghafourian, Zhongying CuiZhu, Debo Shi, Ian Chuang, Francois Charette, Rithik Sachdeva, Iman Soltani

IEEE RA-L 2024

Paper Code

"What Will You Do Next?" Designing and Evaluating Explanation Generation Using Behavior Trees for Projection-Level XAI

Tammer Barkouki, Ian Chuang, Stephen K. Robinson

HRI 2024 (Late-Breaking Report)

Paper Code

Mixed Reality Handheld Displays for Robot Control: A Comparative Study

Vera Memmesheimer, Ian Chuang, Bahram Ravani, Achim Ebert

AHFE 2024 · Best Paper Student Award

Paper

Projects

Manipulator-Mujoco

Control any robot arm in MuJoCo with operational space control.

HOMESTRI-UR

ROS workspace for UR5e robots in the HRVIP Lab and HOMESTRI.

OnRobot-RG2FT-ROS

ROS driver for the OnRobot RG2-FT gripper.

dh_gripper_ros

ROS driver for the DH Robotics AG95 gripper.

LARA-Aubo-Robot

ROS environment for Aubo robots in LARA.

space_habitat_robotics_framework

ROS environment for ViperX 300 arms.

RoboFroggy

Unity 2D side-scrolling game (ECS 189L group project).

AlgorithmVisualizer

React app that visualizes sorting, graph, and maze algorithms.

Twitter-From-Scratch

Twitter-like app built with React, Redux, and Firebase.