Xusheng Luo

I'm currently a Posdoctoral Fellow at Intelligent Control Lab of Robotics Institute, 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.S. and M.S. degrees in Aerospace Engineering from the Harbin Institute of Technology, China, in 2015 and 2017, respectively.

Email / Resume / Google Scholar / Github / LinkedIn

News

2025/05 - One paper accepted to T-RO
2025/05 - Serving as Session Chair of ICRA 2025
2025/05 - One paper accepted to ICRA Workshop on Public Trust in Autonomous Systems (PTAS)
2025/05 - One paper accepted to ICRA Workshop on Robot safety
2025/04 - One paper accepted to RSS 2025
2025/04 - One paper accepted to ACM Transaction on Cyber-Physical Systems (T-CPS)
2025/04 - One paper accepted to Conference on Computer Aided Verification (CAV) 2025
2024/05 - One paper accepted to RA-L
2024/04 - Selected as NSF Rising Star in Cyber-Physical Systems (16.4% = 36/220)
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:

Task Specification — How can we effectively specify tasks for autonomous systems?
Control Synthesis — How can we ensure robots behave as intended?
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.

Publications

Representative papers are highlighted (* denotes equal contribution).

	Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications Xusheng Luo, Changliu Liu IEEE Transaction on Robotics (TRO), 2025 ICRA Workshop on Robot safety, 2025 PDF / Video / Code
	Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems Zhongqi Wei, Xusheng Luo*, Changliu Liu Robotics: Science and Systems (RSS)*, 2025 PDF / Video / Code
	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 ICRA Workshop on Public Trust in Autonomous Systems (PTAS), 2025 PDF
	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 PDF / Code
	NL2HLTL2PLAN: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation Shaojun Xu, Xusheng Luo*, Yutong Huang, Letian Leng, Ruixuan Liu, Changliu Liu CoRL Workshop on Learning Effective Abstractions for Planning (LEAP)* , 2023 arXiv , 2024 PDF / Project Page
	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, with presentation at ICRA 2025 IROS Workshop on Formal Methods Techniques in Robotics Systems: Design and Control , 2023 PDF / Video / Code
	Simulation-aided Learning from Demonstration for Robotic LEGO Construction Ruixuan Liu, Alan Chen, Xusheng Luo, Changliu Liu arXiv , 2023 PDF / Video
	Temporal Logic Task Allocation in Heterogeneous Multi-robot Systems Xusheng Luo, Michael M Zavlanos IEEE Transactions on Robotics (T-RO), 2022 PDF / Extended version / Code
	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 PDF
	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 PDF / Code
	An optimal Graph-Search Method for Secure State Estimation Xusheng Luo, Miroslav Pajic, Michael M Zavlanos Automatica, 2021 PDF
	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 PDF
	Socially-aware Robot Planning via Bandit Human Feedback Xusheng Luo, Yan Zhang, Michael M Zavlanos ACM International Conference on Cyber-Physical Systems (ICCPS), 2020 PDF
	Single-agent Indirect Herding of Multiple Targets using Metric Temporal Logic Switching Duc Le, Xusheng Luo, Leila J. Bridgeman, Michael M Zavlanos, Warren E. Dixon IEEE Conference on Decision and Control (CDC), 2020 PDF
	Transfer Planning for Temporal Logic Tasks Xusheng Luo, Michael M Zavlanos IEEE Conference on Decision and Control (CDC), 2019 PDF

Academic Service

Journals reviewing: T-RO, T-ASE, T-CNS, TMECH, RA-L, J. Dyn. Syst. Meas. Control, L-CSS
Conferences reviewing: RSS, ICRA, IROS, ACC, ICCPS, UR, MECC
Session Chair: Verification and Formal Methods, ICRA 2025