Xusheng Luo

I'm currently a Posdoctoral Fellow at Intelligent Control Lab of Carnegie Mellon University, working with Dr. Changliu Liu, starting from April 2023. I received the Ph.D. degree in Mechanical Engineering and Materials Science from Duke University in December 2020, under the supervision of Dr. Michael M. Zavlanos. Prior to it, I received the B.Eng. and M.S.E. degrees in Aerospace Engineering from the Harbin Institute of Technology, China, in 2015 and 2017, respectively.

I’m seeking a research position in academia or industry. Feel free to reach out if you think I could be a good fit!

Email  /  Scholar  /  Github

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News

  • 2025/05 - Serving as Session Chair of ICRA 2025
  • 2025/04 - One paper accepted to RSS 2025
  • 2025/04 - One paper accepted to Transaction on Cyber-Physical Systems (T-CPS)
  • 2025/04 - One paper accepted to CAV 2025
  • 2024/05 - One paper accepted to RA-L 2024
  • 2024/04 - Selected as NSF Rising Star in Cyber-Physical Systems
  • 2023/10 - One paper accepted to CoRL Workshop on Learning Effective Abstractions for Planning (LEAP)
  • 2023/09 - One paper accepted to IROS Workshop on Formal methods techniques in robotics systems: Design and control
  • 2023/04 - Joined Intelligent Control Lab (ICL) as a Postdoctoral Fellow

Research

I am a robotics and AI researcher specializing in developing intelligent and reliable autonomous systems. My work combines symbolic AI for high-level task planning with optimization-based motion planning, integrating both model-based and data-driven techniques. My research focuses on three fundamental questions:

  1. Task Specification — How can we effectively specify tasks for autonomous systems?
  2. Control Synthesis — How can we ensure robots behave as intended?
  3. Verification/Certification — How do we formally verify that an algorithm meets its specified requirements?
I apply these approaches to autonomous driving, mobile robots, and robotic arms, advancing their autonomy, adaptability, and real-world reliability.

Representative papers are highlighted (* denotes equal contribution).
safs_small Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei*, Xusheng Luo*, Changliu Liu
Robotics: Science and Systems (RSS), 2025
paper

This work addresses the TAMP problem in multi-robot settings where tasks are specified using expressive hierarchical temporal logic and task assignments are not pre-determined.

safs_small Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods
Xusheng Luo, Tianhao Wei, Simin Liu, Ziwei Wang, Luis Mattei-Mendez, Taylor Loper, Joshua Neighbor, Casidhe Hutchison, Changliu Liu
ACM Transaction on Cyber-Physical Systems (T-CPS), 2025
paper

This is the first study to certify the robustness of large-scale, keypoint-based pose estimation given images in real-world scenarios.

safs_small ModelVerification. jl: a Comprehensive Toolbox for Formally Verifying Deep Neural Networks
Tianhao Wei, Luca Marzari, Kai S. Yun, Hanjiang Hu, Peizhi Niu, Xusheng Luo, Changliu Liu
International Conference on Computer Aided Verification (CAV), 2025
paper

This paper presents ModelVerification.jl (MV), the first comprehensive, cutting-edge toolbox that contains a suite of state-of-the-art methods for verifying different types of DNNs and safety specifications.

safs_small NL2HLTL2PLAN: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
Xusheng Luo*, Shaojun Xu*, Yutong Huang, Letian Leng, Ruixuan Liu, Changliu Liu
CoRL Workshop on Learning Effective Abstractions for Planning (LEAP) , 2023
arXiv , 2024
paper

We proposed a neuro-symbolic paradigm of extracting task hierarchies from human instructions to facilitate multi-robot planning for complex, long-horizon tasks.

safs_small Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
Xusheng Luo, Changliu Liu
submitted to Transaction on Robotics (conditionally accepted) , 2024
paper / code

By leveraging the intrinsic structure of tasks, this paper introduced a hierarchical structure to LTL specifications. We employ a search-based approach to synthesize plans for a multi-robot system, accomplishing simultaneous task allocation and planning.

safs_small Decomposition-based Hierarchical Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
Xusheng Luo, Shaojun Xu, Ruixuan Liu, Changliu Liu
IEEE Robotics and Automation Letters (RA-L), 2024
IROS Workshop on Formal Methods Techniques in Robotics Systems: Design and Control , 2023
video / paper / code

This paper proposes a a decomposition-based hierarchical framework for robotic takss under hierarchical Linear Temporal Logic (LTL) specifications.

safs_small Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Ruixuan Liu, Alan Chen, Xusheng Luo, Changliu Liu
arXiv , 2023
paper / video

This paper introduces a simulation-aided learning from demonstration (SaLfD) framework, enabling robots to learn and execute LEGO assembly and disassembly tasks from human demonstrations, successfully implemented and tested on a FANUC LR-mate 200id/7L robot.

safs_small Temporal Logic Task Allocation in Heterogeneous Multi-robot Systems
Xusheng Luo, Michael M Zavlanos
IEEE Transactions on Robotics (T-RO), 2022
paper / extended version / code

This paper addresses the challenge of allocating tasks, defined by global Linear Temporal Logic (LTL) specifications, to diverse teams of robots.

safs_small Formal Verification of Stochastic Systems with ReLU Neural Network Controller
Shiqi Sun, Yan Zhang, Xusheng Luo, Panagiotis Vlantis, Miroslav Pajic, Michael M Zavlanos
ICRA, 2022
paper

This paper tackles the challenge of formal safety verification for stochastic cyber-physical systems (CPS) that use ReLU neural network controllers, aiming to identify initial states that ensure the system remains safe within a certain time frame.

safs_small An abstraction-free Method for Multi-robot Temporal Logic Optimal Control Synthesis
Xusheng Luo, Yiannis Kantaros, Michael M Zavlanos
IEEE Transactions on Robotics (T-RO), 2021
paper / code

This article introduces a new sampling-based linear temporal logic (LTL) planning algorithm that builds trees to explore the state-space, avoiding the need for complex discrete abstractions of robot mobility.

safs_small An optimal Graph-Search Method for Secure State Estimation
Xusheng Luo, Miroslav Pajic, Michael M Zavlanos
Automatica, 2021
paper

This paper proposes a new optimal graph-search algorithm designed for large-scale, linear time-invariant systems, which efficiently identifies malicious attacks and accurately estimates states.

safs_small Human-in-the-loop Robot Planning with Non-contextual Bandit Feedback
Yijie Zhou, Yan Zhang, Xusheng Luo, Michael M Zavlanos
IEEE Conference on Decision and Control (CDC), 2021
paper

This paper addresses the challenge of robot navigation in human-populated environments, aiming to create trajectories that are collision-free, dynamically feasible, and maximize human satisfaction by being responsive to human needs and avoiding discomfort.

safs_small Socially-aware Robot Planning via Bandit Human Feedback
Xusheng Luo*, Yan Zhang*, Michael M Zavlanos
ACM International Conference on Cyber-Physical Systems (ICCPS), 2020
paper

This paper presents a novel framework for designing socially-aware robotic trajectories in human-populated environments, defining socially-awareness as the avoidance of human discomfort.

Single-agent Indirect Herding of Multiple Targets using Metric Temporal Logic Switching
Duc Le, Xusheng Luo, Leila J. Bridgeman, Michael M Zavlanos, E. Dixon
IEEE Conference on Decision and Control (CDC), 2020
paper

The paper addresses the single-agent indirect herding problem, focusing on a herder agent's task to guide a group of target agents to a specific goal.

safs_small Transfer Planning for Temporal Logic Tasks
Xusheng Luo, Michael M Zavlanos
IEEE Conference on Decision and Control (CDC), 2019
paper

This paper introduces an optimal control synthesis algorithm for Linear Temporal Logic (LTL) tasks, utilizing a novel approach that leverages experience from previous similar tasks.

Reviewer

Reviewer for T-RO, T-ASE, T-CNS, RA-L, L-CSS, RSS, ICRA, IROS, ACC, ICCPS, UR.


Design and source code from Jon Barron's website.