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Technical University of Munich

Wissenschaftlicher Mitarbeiter

Foto von Fan Wu

Dr. phil. Fan Wu

Postadresse

Georg-Brauchle-Ring 60_62
80992 München

About

Before joining MIRM as a PostDoc, Dr. Fan Wu did his PhD at King’s College London, where he introduced regenerative damping mechanism into compliant actuation and developed trajectory optimization method for energy efficient sequential movements. Prior to that, he studied applied mathematics and worked as a quantitative analyst and trader in stock and futures market. He is Senior Scientist at MIRMI since October 2020.

Research interests:

  • optimal control and reinforcement learning
  • optimal control for energy efficient elastic robots
  • compliant actuation
  • machine learning for embodied systems
  • energy-aware policy learning
  • collective learning

  • PhD in Robotics, King’s College London, UK, 2016-2020
    • Thesis: Energy Harvesting and Energy Efficient Control of Variable Impedance Actuators, supervised by Dr. Matthew Howard.
  • MSc in Financial Mathematics (with Distinction), King's College London, UK, 2012-2013
    • Thesis: Portfolio optimisation with non-Gaussian return distributions, supervised by Prof. Teemu Pennanen.
  • BSc in Applied Mathematics, University of Science and Technology Beijing, China, 2008-2012
    • Thesis: Asymptotic and Numerical Studies of Acoustic Waves Through A Foamed Concrete Wall, supervised by Dr. Mariya Ptashnyk and Prof. Ping Lin at University of Dundee.

  • Jicong Ao, Fan Wu*, Yansong Wu, Abdalla Swikir, Sami Haddadin, LLM as BT‑Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning, ICRA, 2025
  • Yansong Wu, Zongxie Chen, Fan Wu*, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin, TacDiffusion: Force‑domain Diffusion Policy for Precise Tactile Manipulation, ICRA, 2025
  • Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu*, Zhenshan Bing, Sami Haddadin, Alois Knoll, Learning Task Planning from Multi‑Modal Demonstration for Multi‑Stage Contact‑Rich Manipulation, ICRA, 2025
  • Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll, Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic, ICRA, 2025
  • Samuel Schneider, Yansong Wu, Lars Johannasmeier, Fan Wu*, Sami Haddadin, A Scalable Platform for Robot Learning and Physical Skill Data Collection, (IROS), 2024.
  • Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu*, and Sami Haddadin, Visuo‑Tactile Exploration of Unknown Rigid 3D Curvatures by Vision‑Augmented Unified Force‑Impedance Control, (IROS), 2024.
  • Jingyun Zhao, Birgit Vogel‑Heuser, Jicong Ao, Yansong Wu, Liding Zhang, Bi Fandi, Dominik Hujo, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Bernd Vojanec, Timo Markert, André Kraft, Ontology Based Process Planning and Scheduling for Robotic Assembly, (IROS), 2024.
  • Liding Zhang, Zhenshan Bing, Yu Zhang, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll, Elliptical K‑nearest Neigh‑bors ‑ Path Optimization via Coulomb’s Law and Invalid Vertices in C‑space Obstacles., (IROS), 2024.
  • Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll, Flexible Informed Trees (FIT*): Adaptive Batch‑Size Approach for Informed Sampling‑Based Planner, (IROS), 2024.
  • Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, and Sami Haddadin, ”Tactile Robot Program‑ming: Transferring Task Constraints into Constraint‑Based Unified Force‑Impedance Control”, International Conference on Robotics and Automation (ICRA), 2024.
  • Yansong Wu, Fan Wu* et al., “1 kHz Behavior Tree for Self‑adaptable Tactile Insertion”, International Conference on Robotics and Automation (ICRA), 2024.
  • Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll, “Real‑time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints”, International Conference on Robotics and Automation (ICRA), 2024.
  • So, Peter; Sarabakha, Andriy; Wu, Fan; Culha, Utku; Abu‑Dakka, Fares; Haddadin, Sami, ”Digital Robot Judge (DR.J): Building a Task‑Centric Performance Database of Real‑World Manipulation with Electronic Task Boards”, IEEE Robotics and Automation Magazine (RAM), 2024.
  • Kübra Karacan, Robin Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin, ”The Inherent Representation of Tactile Manipulation Using Unified Force‑Impedance Control”, IEEE Conference on Decision and Control CDC, 2023.
  • Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin, ”Tactile Exploration Using Unified Force‑Impedance Control”, IFAC‑PapersOnLine, 22nd IFAC World Congress on Automatic Control, 2023.
  • Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Sami Haddadin, ”Learning optimal controllers: A dynamical motion primitive approach”, IFAC‑PapersOnLine, 22nd IFAC World Congress on Automatic Control, 2023.
  • Yansong Wu, Lingyun Chen, Ignacio Perez Mahiques, Zhenshan Bing, Fan Wu*, Alois Knoll, Sami Haddadin, ”Learning dynamic robot‑to‑robot object handover”, IFAC‑PapersOnLine, 22nd IFAC World Congress on Automatic Control, 2023.
  • Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin Dehmel, Tommy Wohlfahrt, Matthias Riedl, Sami Haddadin, ”Self‑Organization and Collaboration in Robotic Manufacturing Systems”, IEEE International Conference on Automation Science and Engineering (CASE), 2023.
  • Elisabeth Jensen, Reihaneh Mirjalili, Kim Peper, Dennis Ossadnik, Fan Wu, Jan Lang, Matthias Martin, Florian Hetfleisch, Rainer Burgkart, Sami Haddadin, Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board, International Conference on Rehabilitation Robotics (ICORR), 2023.
  • Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares Abu-Dakka, Sami Haddadin, "Digital Robot Judge (DR.J): Building a Task-Centric Performance Database of Real-World Manipulation with Electronic Task Boards", to be published in IEEE Robotics and Automation Magazine (RAM).
  • Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin Dehmel, Tommy Wohlfahrt, Matthias Riedl, Sami Haddadin, Self-Organization and Collaboration in Robotic Manufacturing Systems, 2023 IEEE International Conference on Automation Science and Engineering (CASE), 2023
  • Kübra Karacan, Robin Kirschner, Fan Wu, Hamid Sadeghian, Sami Haddadin, The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control, CDC, 2023
  • Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll, Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
  • Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin, Tactile Exploration Using Unified Force-Impedance Control, The 22nd World Congress of the International Federation of Automatic Control (IFAC), 2023
  • Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Sami Haddadin, Learning optimal controllers: A dynamical motion primitive approach,  The 22nd World Congress of the International Federation of Automatic Control (IFAC), 2023
  • Yansong Wu, Lingyun Chen, Ignacio Perez Mahiques, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Learning dynamic robot-to-robot tool handover, The 22nd World Congress of the International Federation of Automatic Control (IFAC), 2023
  • D. Ossadnik, M. C. Yildirim, F. Wu, A. Swikir, H. T. Kussaba, S. Abdolshah, Sami Haddadin, "BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots." , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  • Xiao Chen, Lars Johannsmeier, Erfan Shahriari, Hamid Sadeghian, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard Fettweis, Sami Haddadin, On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  • Fan Wu and Matthew Howard, Energy regenerative damping in variable impedance actuators for long-term robotic deployment, IEEE TRANSACTIONS ON ROBOTICS (T-RO), 2020.
  • YuChen Zhao, Aran Sena, Fan Wu, Matthew Howard. A Framework for Teaching Impedance Behaviours by Combining Human and Robot ‘Best Practice’, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
  • Fan Wu and Matthew Howard, A Hybrid Dynamic-regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators. IEEE International Conference on Robotics and Automation (ICRA), 2018.
  • Samuel Pitou, Fan Wu, Ali Shafti, Brendan Michael, Riaan Stopforth, Matthew Howard, Embroidered Electrodes for Control of Affordable Myographic Prostheses. IEEE International Conference on Robotics and Automation (ICRA), 2018.
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