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Zhenhao Huang

PhD Student

Electrical and Computer Engineering @ National University of Singapore

I am a second-year PhD student at NUS HcRL, supervised by Prof. Fan Shi. My research focuses on bridging the sim-to-real gap through learnable simulation and closed-loop self-evaluation.

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Learnable Simulation

Building neural differentiable simulators that can learn accurate real-world dynamics and provide informative gradients for controllers.

Self-Evaluation

Designing methods to evaluate the simulation and correct undesirable behaviors autonomously.

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2026-02

One paper is accepted in ICRA 2026!

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Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement

X Liu, Y Li, Z Li, P Jing, Z Huang, B Zhou, Z Zeng, S Luo, C Qi, F Shi

CoRL 2026

RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation

P Yang, X Wang, P Jing, K Wen, Y Qu, Z Huang, M Fu, X Liu, Y Shen, F Shi

CoRL 2026 Cited: 2

FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes

S Luo, B Zhou, C Zhang, X Liu, Z Huang, G Yang, Z Han, X Hu, E Yang, R Yu, Z Zeng, F Shi

ISRR 2026 Cited: 2

Fast and Reliable Gradients for Deformables Across Frictional Contact Regimes

Z Zeng, G Yang, Z Huang, B Zhou, Y Li, J Pho, S Luo, F Shi

arXiv 2026 Cited: 1

Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling

Z Huang, S Luo, B Zhou, Z Zeng, J Pho, F Shi

ICRA 2026 Cited: 2

Economical Electric Vehicle Charging Scheduling via Deep Imitation Learning

Z Huang, J Wang, X Fan, R Yue, C Xiang, S Gao

IEEE T-ITS 25(11) 18196-18210 2024 Cited: 15

A Hybrid Approach for Home Energy Management with Imitation Learning and Online Optimization

S Gao, R bin Zulkifli Lee, Z Huang, C Xiang, M Yu, KT Tan, TH Lee

IEEE TII 20(3) 4527-4539 2023 Cited: 24

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email: huangzhenhao@u.nus.edu

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