Yijiang Huang bio photo

Yijiang Huang

Postdoc with Prof. Stelian Coros at ETH Zurich

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Publications

* indicates that authors contributed equally.
Yijiang Huang, Caelan Garret, Caitlin Mueller
“Constructability-driven design of frame structures with state-space search methods,”
Automation in Construction.
[BibTeX] [PDF] [DOI] [Code] 
@article{huang2024constructability,
  title={Constructability-driven design of frame structures with state-space search methods},
  author={Huang, Yijiang and Garrett, Caelan and Mueller, Caitlin},
  journal={Automation in Construction},
  volume={167},
  pages={105711},
  year={2024},
  publisher={Elsevier}
}
Chenming Jiang, Yi-Hsiu Hung, Ziqi Wang, Yijiang Huang, Aurele L. Gheyselinck, Petrus Aejmelaeus-Lindstrom
“Computational Design and AR-assisted Assembly of Infinitely Reusable Temporary Structures,”
in: Proceedings of International Association for Shell and Spatial Structures (IASS) 2024.
[BibTeX] [PDF] 
@inproceedings{jiang2024computational,
  title={Computational Design and AR-assisted Assembly of Infinitely Reusable Temporary Structures},
  author={Jiang, Chenming and Hung, Yi-Hsiu and Wang, Ziqi and Huang, Yijiang and Gheyselinck, Aurele and Aejmelaeus-Lindstrom, Petrus},
  booktitle={Proceedings of International Association for Shell and Spatial Structures (IASS)},
  year={2024}
}
Pok Yin Victor Leung, Yijiang Huang, Caelan Garret, Fabio Gramazio, Matthias Kohler
“Planning Non-repetitive Robotic Assembly Processes with Task and Motion Planning (TAMP),”
In: Robotic Fabrication in Architecture, Art and Design 2024.
[BibTeX] [PDF] [Code] 
@inproceedings{leung2024robarch,
  title={Planning Non-repetitive Robotic Assembly Processes with Task and Motion Planning (TAMP)},
  author={Leung, Pok Yin Victor and Huang, Yijiang and Garret, Caelan and Gramazio, Fabio and Kohler, Matthias},
  booktitle={Proceedings of Robotic Fabrication in Architecture, Art and Design 2024},
  year={2024},
  organization={Springer}
}
Kiran Doshi, Yijiang Huang, Stelian Coros
“On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration,”
arxiv 2311.01832.
[BibTeX] [PDF] [Video] 
@article{doshi2023hand,
  title={On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration},
  author={Doshi, Kiran and Huang, Yijiang and Coros, Stelian},
  journal={arXiv preprint arXiv:2311.01832},
  year={2023}
}
Mohamed Tarek, Yijiang Huang
“General deflation for finding multiple local optima in non-convex optimization,”
arxiv 2201.11926.
[BibTeX] [PDF] [Code] 
@article{tarek2022deflation,
  title={General deflation for finding multiple local optima in
non-convex optimization},
  author={Tarek, Mohamed and Huang, Yijiang},
  journal={arXiv preprint arXiv:2201.11926},
  year={2022}
}
Ziqi Wang, Florian Kennel-Maushart, Yijiang Huang, Bernhard Thomaszewski, Stelian Coros
“ A Temporal Coherent Topology Optimization Approach for Assembly Planning of Bespoke Frame Structures ,”
ACM Transactions on Graphics (TOG), 2023.
[BibTeX] [PDF] [Supplementary] [Video] [AR/Robot video] 
@article{wang2023temporal,
 author = {Wang, Ziqi and Kennel-Maushart, Florian and Huang, Yijiang and Thomaszewski, Bernhard and Coros, Stelian
},
 title = {A Temporal Coherent Topology Optimization Approach for Assembly Planning of Bespoke Frame Structures},
 journal = {ACM Trans. Graph.},
 issue_date = {August 2023},
 publisher = {ACM},
}
Jingkai Chen, Jiaoyang Li*, Yijiang Huang*, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian C. Williams
“Cooperative Task and Motion Planning for Multi-Arm Assembly Systems,”
arxiv 2203.02475.
[BibTeX] [arxiv:2203.02475] [Video demo] 
 @article{chen2022coop, 
  title={Cooperative Task and Motion Planning for Multi-Arm Assembly Systems}, 
  author={Chen, Jingkai and Li, Jiaoyang and Huang, Yijiang and Garrett, Caelan and Sun, Dawei and Fan, Chuchu and Hofmann, Andreas and Mueller, Caitlin and Koenig, Sven and Williams, Brian C.}, 
  year={2022}, month={Mar},
  url={http://arxiv.org/abs/2203.02475}, 
  DOI={10.48550/arXiv.2203.02475}, 
  note={arXiv:2203.02475 [cs]}, 
  number={arXiv:2203.02475},
  publisher={arXiv}
}
Yijiang Huang, Pok Yin Victor Leung, Caelan Garrett, Fabio Gramazio, Matthias Kohler, Caitlin Mueller
“The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures,”
In: ACM Symposium on Computational Fabrication, 2021.
[BibTeX] [PDF] [Code] 
@inproceedings{huang2021analog,
author = {Huang, Yijiang and Leung, Pok Yin Victor and Garrett, Caelan and Gramazio, Fabio and Kohler, Matthias and Mueller, Caitlin},
title = {The new analog: A protocol for linking design and construction intent with
algorithmic planning for robotic assembly of complex structures},
year = {2021},
publisher = {Association for Computing Machinery},
booktitle = {Symposium on Computational Fabrication},
series = {SCF '21},
doi = {https://doi.org/10.1145/3485114.3485122}
}
Yijiang Huang, Latifa Alkhayat, Catherine De Wolf, Caitlin T. Mueller
“Algorithmic circular design with reused structural elements: Method and Tool,”
International FIB symposium of Conceptual Design of Structures, 2021.
[BibTeX] [PDF] [fib port] [Code] 
@inproceedings{huang2021circular,
  title={Algorithmic circular design with reused structural elements: Method and Tool},
  author={Huang, Yijiang and Alkhayat, Latifa and De Wolf, Catherine and Mueller, Caitlin Tobin},
  booktitle={Proceedings of International FIB symposium of Conceptual Design of Structures},
  year={2021}
}
Yijiang Huang, Caelan R. Garrett, Ian Ting, Stefana Parascho, Caitlin T. Mueller
“Robotic additive construction of bar structures: Unified sequence and motion planning,”
Construction Robotics, vol. 5, pp. 115-130, 2021.
[BibTeX] [arXiv:2105.11438] [DOI] [Youtube videos] [Code] 
@article{huang2021barassembly,
  title={Robotic additive construction of bar structures: Unified sequence and motion planning},
  author={Huang, Yijiang and Garrett, Caelan Reed and Ting, Ian and Parascho, Stefana and Mueller, Caitlin Tobin},
  journal={Construction Robotics},
  pages={115--130},
  year={2021},
  publisher={Springer}
}
Felix Amtsberg*, Yijiang Huang*, Daniel J.M. Marshall, Kevin Moreno Gata, Caitlin Mueller
“Structural upcycling: Matching digital and natural geometry,”
Advances in Architectural Geometry, 2020.
[BibTeX] [PDF] [Talk-Youtube] [MIT news] [Dezeen] 
@inproceedings{amtsberg2020tree,
  title={Structural upcycling: Matching digital and natural geometry},
  author={Amtsberg, Felix and Huang, Yijiang and Marshall, Daniel J.M. and Gata, Kevin Moreno and Mueller, Caitlin},
  booktitle={Proceedings of Advances in Architectural Geometry},
  year={2020}
}
Caelan R. Garrett*, Yijiang Huang*, Tomás Lozano-Pérez, Caitlin T. Mueller
“Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion,”
In: Robotics: Science and Systems (RSS), 2020
[BibTeX] [arXiv:2002.02360] [RSS port] [Talk] [Youtube] [Code] 
@inproceedings{garrett2020scalable,
  title={Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion},
  author={Garrett, Caelan Reed and Huang, Yijiang and Lozano-P{\'e}rez, Tom{\'a}s and Mueller, Caitlin Tobin},
  booktitle={Robotics: Science and Systems (RSS)},
  year={2020}
}
Rahul Arora, Alec Jacobson, Timothy R. Langlois, Yijiang Huang, Caitlin Mueller, Wojciech Matusik, Ariel Shamir, Karan Singh, David I.W. Levin
“Volumetric Michell trusses for parametric design & fabrication,”
In: ACM Symposium on Computational Fabrication, 2019.
[BibTeX] [PDF] [ACM Port] [Project (code, talk and more)] 
@inproceedings{arora2019michell,
 author = {Arora, Rahul and Jacobson, Alec and Langlois, Timothy R. and Huang, Yijiang
 and Mueller, Caitlin and Matusik, Wojciech and Shamir, Ariel and
 Singh, Karan and Levin, David I.W.},
 title = {Volumetric Michell Trusses for Parametric Design \& Fabrication},
 booktitle = {Proceedings of the 3rd ACM Symposium on Computation Fabrication},
 series = {SCF '19},
 year = {2019},
 location = {Pittsburgh, PA, USA},
 numpages = {13},
 publisher = {ACM},
 address = {New York, NY, USA}
}
Lavender Tessmer, Yijiang Huang, Caitlin Mueller
“Additive Casting of Mass-Customizable Bricks: Workflow for Design and Robotic Fabrication,”
In: Conference of The Association for Computer Aided Design in Architecture (ACADIA), 2019.
[BibTeX] [PDF] [CumInCAD Port] [Project] 
@inproceedings{tessmer2019acadia,
  title={Additive Casting of Mass-Customizable Bricks: Workflow for Design and Robotic Fabrication},
  author={Tessmer, Lavender and Huang, Yijiang and Mueller, Caitlin},
  booktitle={Proceedings of the 39st Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)},
  year={2019}
}
Yijiang Huang, Caelan R. Garrett, Caitlin T. Mueller
“Automated sequence and motion planning for robotic spatial extrusion of 3D trusses,”
Construction Robotics, vol. 2, no. 1-4, pp. 15-39, 2018.
[BibTeX] [arXiv:1810.00998] [DOI] [Youtube videos] [Code-ROS] 
@article{huang2018automated,
 title={Automated sequence and motion planning for robotic spatial extrusion of 3D trusses},
 author={Huang, Yijiang and Garrett, Caelan R and Mueller, Caitlin T},
 journal={Construction Robotics},
 pages={15--39},
 year={2018},
 publisher={Springer}}
Yijiang Huang, Josephine Carstensen, Lavender Tessmer and Caitlin Mueller
“Robotic extrusion of architectural structures with nonstandard topology,”
In: Robotic Fabrication in Architecture, Art and Design 2018.
[BibTeX] [PDF] [DOI] [Code-ROS] 
@inproceedings{huang2018robarch,
  title={Robotic extrusion of architectural structures with nonstandard topology},
  author={Huang, Yijiang and Carstensen, Josephine and Tessmer, Lavender and Mueller, Caitlin},
  booktitle={Robotic Fabrication in Architecture, Art and Design},
  pages={377--389},
  year={2018},
  organization={Springer}
}
Yijiang Huang, Josephine Carstensen and Caitlin Mueller
“3D truss topology optimization for automated robotic spatial extrusion,”
In: Proceedings of International Association for Shell and Spatial Structures (IASS) 2018.
[BibTeX] [PDF] [Code-ROS] 
@inproceedings{huang2018iass,
  title={3D truss topology optimization for automated robotic spatial extrusion},
  author={Huang, Yijiang and Carstensen, Josephine and Mueller, Caitlin},
  booktitle={Proceedings of International Association for Shell and Spatial Structures (IASS)},
  year={2018}
}
Kam-Ming Mark Tam, Daniel J. Marshall, Mitchell Gu, Jasmine Kim, Yijiang Huang, Justin Lavallee, Caitlin T. Mueller
“Fabrication-aware structural optimisation of lattice additive-manufactured with robot-arm,”
International Journal of Rapid Manufacturing, vol. 7, no. 2-3, pp. 120-168, 2018.
[BibTeX] [PDF] [DOI] 
@article{tam2018fabrication,
  title={Fabrication-aware structural optimisation of lattice additive-manufactured with robot-arm},
  author={Tam, Kam-Ming Mark and Marshall, Daniel J and Gu, Mitchell and Kim, Jasmine and Huang, Yijiang and Lavallee, Justin and Mueller, Caitlin T},
  journal={International Journal of Rapid Manufacturing},
  volume={7},
  number={2-3},
  pages={120--168},
  year={2018},
  publisher={Inderscience Publishers (IEL)}
}
Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu and Ligang Liu
“FrameFab: Robotic Fabrication of Frame Shapes,”
ACM Transactions on Graphics (TOG), vol. 35, no. 6, pp. 224:1--224:11 2016.
[BibTeX] [PDF] [ACM-DL Port] [Code] [Video] 
@article{huang2016framefab,
 author = {Huang, Yijiang and Zhang, Juyong and Hu, Xin and Song, Guoxian and Liu, Zhongyuan and Yu, Lei and Liu, Ligang},
 title = {FrameFab: Robotic Fabrication of Frame Shapes},
 journal = {ACM Trans. Graph.},
 issue_date = {November 2016},
 volume = {35},
 number = {6},
 month = nov,
 year = {2016},
 issn = {0730-0301},
 pages = {224:1--224:11},
 articleno = {224},
 numpages = {11},
 url = {http://doi.acm.org/10.1145/2980179.2982401},
 doi = {10.1145/2980179.2982401},
 acmid = {2982401},
 publisher = {ACM},
 address = {New York, NY, USA},
}
Lei Yu, Yijiang Huang, Zhongyuan Liu, Sai Xiao, Ligang Liu, Guoxian Song, Yanxin Wang
“Highly Informed Robotic 3D Printed Polygon Mesh - A Novel Strategy of 3D Spatial Printing,”
In: Conference of The Association for Computer Aided Design in Architecture (ACADIA), 2016.
[BibTeX] [PDF] [CumInCAD Port] 
@inproceedings{yu2016acadia,
  title={Highly Informed Robotic 3D Printed Polygon Mesh: A Novel Strategy of 3D Spatial Printing},
  author={Yu, Lei and Huang, Yijiang and Liu, Zhongyuan and Xiao, Sai and Liu, Ligang and Song, Guoxian and Wang, Yanxin},
  booktitle={Proceedings of the 36st Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)},
  year={2016},
  pages={298-307},
}

Conference Abstracts, Posters, and Workshop Summaries

Yijiang Huang*, Pok Yin Victor Leung*, Caelan Garret, Fabio Gramazio, Matthias Kohler
“Planning Non-repetitive Robotic Assembly Processes with Task and Motion Planning (TAMP),”
In: 3rd Workshop on Future of Construction: Lifelong Learning Robots in Changing Construction Sites (2024), ICRA, Yokohama, Japan.
[Poster]
Yi-Hsiu Hung*, Chenming Jiang*, Ziqi Wang, Yijiang Huang, Aurèle L. Gheyselinck, Petrus Aejmelaeus-Lindström
“Computational Design and Assembly of Infinitely Reusable Kit of Parts,”
In: Future of Construction Symposium (2023), Munich, Germany.
[Poster]
Keith J. Lee, Yijiang Huang, Caitlin Mueller
“A differentiable assignment algorithm for high performance inventory-driven structural design,”
In: (In)visible Reuse Symposium (2023), Lausanne, Switzerland.
[Abstract]
Pok Yin Victor Leung, Yijiang Huang
“Workshop: Task and Motion Planning for Robotic Assembly,”
In: Workshop at the annual conference of Association for Computer Aided Design in Architecture (ACADIA), hybrid, Hongkong.
[Workshop Summary]
Yijiang Huang and Mohamed Tarek
“TopOpt.jl: Truss and Continuum Topology Optimization, Interactive Visualization, Automatic Differentiation and More,”
In: 14th World Congress of Structural and Multidisciplinary Optimization (2021).
[BibTeX] [Abstract] [WCSMO14-Talk-Youtube] [JuliaCon-Talk-Youtube]
[TopOpt.jl] [Demo and Benchmark code] 
@inproceedings{huang2021topoptjl,
  title={TopOpt.jl: Truss and Continuum Topology Optimization, Interactive Visualization, Automatic Differentiation and More},
  author={Huang, Yijiang and Tarek, Mohamed},
  booktitle={Proceedings of the 14th World Congress of Structural and Multidisciplinary Optimization},
  year={2021}
}

Theses

Yijiang Huang,
“Algorithmic planning for robotic assembly of building structures,”
Ph.D. dissertation, Massachusetts Institute of Technology, September 2022, supervised by Caitlin Mueller.
[BibTeX] [PDF] 
@phdthesis{huang2022dissertation,
author = {Huang, Yijiang},
title = {Algorithmic planning for robotic assembly of building structures},
school = {Massachusetts Institute of Technology},
year = {2022},
}
Yijiang Huang,
“Automated Motion Planning for Robotic Assembly of Discrete Architectural Structures,”
Master Thesis, Massachusetts Institute of Technology, June 2018, supervised by Caitlin Mueller.
[BibTeX] [MIT-DSpace] 
@mastersthesis{yijiangthesis2018,
author = {Huang, Yijiang},
title = {Automated Motion Planning for Robotic Assembly of Discrete Architectural Structures},
school = {Massachusetts Institute of Technology},
year = {2018}}