Charles Xu

I am a fourth year undergraduate student at UC Berkeley majoring in Electrical Engineering and Computer Science. I currently conduct research with Prof. Sergey Levine at the Robotic AI & Learning Lab. I've also had the pleasure of working with Stefan Schaal. My research interests lie at the intersection of robotics and machine learning for building robust and generalizable autonomous manipulation systems.

xuc [at] berkeley [dot] edu  /  GitHub  /  Google Scholar  

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Octo: An Open-Source Generalist Robot Policy

Dibya Ghosh*, Homer Walke*, Karl Pertsch*, Kevin Black*, Oier Mees*, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Dorsa Sadigh, Chelsea Finn, Sergey Levine
Robotics: Science and Systems 2024
website / paper / code

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SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning

Jianlan Luo*, Zheyuan Hu*, Charles Xu, Siri Gadipudi, Archit Sharma, Rehaan Ahmad, Stefan Schaal, Chelsea Finn, Abhishek Gupta, Sergey Levine
IEEE International Conference on Robotics and Automation (ICRA) 2024
website / paper / video / code

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Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration
IEEE International Conference on Robotics and Automation (ICRA) 2024
website / paper / code / data

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FMB: A Functional Manipulation Benchmark for Generalizable Robotic Learning

Jianlan Luo*, Charles Xu*, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, Sergey Levine
Under review, The International Journal of Robotics Research, 2023
website / video / code / data

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Multi-Stage Cable Routing through Hierarchical Imitation Learning

Jianlan Luo*, Charles Xu*, Xinyang Geng, Gilbert Feng, Kuan Fang, Liam Tan, Stefan Schaal, Sergey Levine
IEEE Transactions on Robotics, 2024
website / paper / video / code / data


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EECS C106A/206A: Introduction to Robotics

Lab Assistant: Fall 2023

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CS 189: Introduction to Machine Learning

Tutor: Spring 2023

Design and source code from Jon Barron's website