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<!DOCTYPE HTML>
<html lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Eric Chang</title>
<meta name="author" content="Eric Chang">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
<link rel="icon" type="image/png" href="images/giraffe.png">
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<body>
<table style="width:100%;max-width:800px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
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<p style="text-align:center">
<name>Eric Chang (he/him)</name>
</p>
<p style="text-align:justify">
I'm a phd student in the <a href="https://roam.me.columbia.edu/">ROAM Lab</a> at Columbia, advised by <a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>, where I work on building tactile sensors for dexterous manipulation.
I am also a NASA NSTGRO fellow, and I work with <a href="https://longhorizon.org/trey/">Trey Smith</a> and <a href="https://brian.coltin.org/">Brian Coltin</a> at NASA Ames.
During my PhD, I interned at Amazon Robotics' Innovation Lab and spent time working at NASA Ames' <a href="https://www.nasa.gov/intelligent-systems-division/autonomous-systems-and-robotics/intelligent-robotics-group/">Intelligent Robotics Group</a>.
</p>
<p style="text-align:justify">
Before Columbia, I majored in mechanical engineering and computer science at Duke, where I worked in the <a href="https://mitzilab.pratt.duke.edu/">Mitzi Research Group</a> on the development of new, sustainable materials for thin-film photovoltaics. I also interned at <a href="https://nauticusrobotics.com/">Nauticus Robotics</a>, <a href="https://rtr.ai/">Realtime Robotics</a>, and <a href="https://coherix.com/">Coherix</a>.
</p>
<p style="text-align:center">
<a href="data/CV.pdf">CV</a> |
<a href="https://www.linkedin.com/in/eric-chang-807741177/">LinkedIn</a> |
<!-- <a href="https://github.com/echang264">GitHub</a> | -->
<a href="https://twitter.com/ric_and_robots">Twitter</a> |
<a href="https://scholar.google.com/citations?user=0xUWqtsAAAAJ&hl=en">Google Scholar</a>
</p>
<p style="text-align:center">
email: eric (dot) chang (at) columbia (dot) edu
</p>
</td>
<td style="padding:2.5%;width:40%;max-width:40%">
<a href="images/propic.png"><img style="width:100%;max-width:100%" alt="profile photo" src="images/propic.png" class="hoverZoomLink"></a>
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<h2>Recent Updates</h2>
<br>
[9-2024] Had an awesome time at the first <a href="https://lasr.org/tspss2024">Touch Sensing and Processing Summer School</a>!
<br>
[1-2024] <a href="https://arxiv.org/abs/2310.00206">Paper</a> accepted to ICRA 2024!
<br>
[11-2023] Our work on in-hand manipulation (led by <a href="https://gagkhan.github.io/">Gagan Khandate</a>) was in TIME's <a href="https://time.com/collection/best-inventions-2023/6326934/columbia-university-robotic-hand/">best inventions of 2023</a>!
<br>
<div id="moreContent" style="display:none;">
[6-2023] Presented a workshop paper at ICRA 2023 ViTac workshop!
<br>
[4-2023] <a href="https://sbrl.cs.columbia.edu/">Paper</a> accepted to RSS 2023!
<br>
[1-2023] <a href="https://pubs.acs.org/doi/full/10.1021/acs.chemmater.2c03109">Paper</a> accepted to Chemistry of Materials!
<br>
[4-2022] Received NASA <a href="https://www.nasa.gov/directorates/spacetech/strg/nstgro">NSTGRO</a> fellowship
<br>
[9-2021] Started MS/PhD program at Columbia
<br>
[8-2021] Finished internship at <a href="https://nauticusrobotics.com/">Nauticus Robotics</a>
<br>
[5-2021] Graduated from Duke University
</div>
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<h2>Research</h2>
<p>
I work on building touch sensors to (hopefully) help robots be more dexterous! I'm most interested in developing compact, multimodal tactile fingers, studying new methods of tactile sensing, and exploring how to process rich, multimodal touch data in the context of manipulation.
</p>
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<span class="papertitle">SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation</span>
<br>
<strong>Eric T. Chang*</strong>,
<a href="https://www.linkedin.com/in/peter-ballentine-aa53a8153/">Peter Ballentine*</a>,
<a href="https://zhanpenghe.github.io/">Zhanpeng He*</a>,
<a href="https://www.linkedin.com/in/do-gon-kim/">Do-Gon Kim</a>,
<a href="https://www.linkedin.com/in/kai-jiang1/">Kai Zhang</a>,
<a href="https://www.linkedin.com/in/hua-hsuan-liang/">Hua-Hsuan Liang</a>,
<a href="https://joaquinpalacios.com/">Joaquin Palacios</a>,
<a href="">William Wang</a>,
<a href="https://www.linkedin.com/in/pedropiacenza/">Pedro Piacenza</a>,
<a href="https://www.ee.columbia.edu/ioannis-john-kymissis">Ioannis Kymissis</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*joint first authorship
<br>
<em>ICRA, 2026</em>
<br>
<a href="https://roamlab.github.io/spikeatac/">project website</a> |
<a href="https://arxiv.org/abs/2510.27048">arXiv</a>
<br>
<p></p>
<p></p>
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<span class="papertitle">VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation</span>
<br>
<a href="https://www.linkedin.com/in/kaidi-zhang-128209291/">Kaidi Zhang*</a>,
<a href="https://www.linkedin.com/in/do-gon-kim/">Do-Gon Kim*</a>,
<strong>Eric T. Chang*</strong>,
<a href="https://www.linkedin.com/in/hua-hsuan-liang/">Hua-Hsuan Liang</a>,
<a href="https://zhanpenghe.github.io/">Zhanpeng He</a>,
<a href="https://kathrynlampo.com/">Kathryn Lampo</a>,
<a href="https://www.philippewu.me/">Philippe Wu</a>,
<a href="https://www.ee.columbia.edu/ioannis-john-kymissis">Ioannis Kymissis</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*equal contribution
<br>
<em>IROS, 2025</em>
<br>
<a href="https://roamlab.github.io/vibecheck/">project website</a> |
<a href="https://arxiv.org/abs/2504.15535">arXiv</a> |
<a href="https://ieeexplore.ieee.org/document/11246133">IEEE Xplore</a>
<br>
<p></p>
<p></p>
</td>
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<tr onmouseout="rxr_stop()" onmouseover="rxr_start()"> <!--bgcolor="#ffffd0"> use this to highlight a particular work-->
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<td style="padding:20px;width:75%;vertical-align:middle">
<span class="papertitle">R×R: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training</span>
<br>
<a href="https://gagkhan.github.io/">Gagan Khandate*</a>,
<a href="https://tristansaidi.github.io/">Tristan Luca Saidi*</a>,
<a href="https://www.linkedin.com/in/siqishang">Siqi Shang*</a>,
<strong>Eric T. Chang</strong>,
Yang Liu,
<a href="https://www.linkedin.com/in/seth-dennis/">Seth Dennis</a>,
<a href="https://www.linkedin.com/in/johnson-adams/">Johnson Adams</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*equal contribution
<br>
<em>Autonomous Robots, 2024 (RSS 2023 Special Issue)</em>
<br>
<a href="https://arxiv.org/abs/2401.15484">arXiv</a> |
<a href="https://link.springer.com/article/10.1007/s10514-024-10170-8">Springer Link</a>
<br>
<p></p>
<p></p>
</td>
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<td style="padding:20px;width:75%;vertical-align:middle">
<span class="papertitle">Train Robots in a JIF: Joint Inverse and Forward Dynamics with Human and Robot Demonstrations</span>
<br>
<a href="https://gagkhan.github.io/">Gagan Khandate*</a>,
Boxuan Wang*,
Sarah Park*,
Weizhe Ni,
<a href="https://joaquinpalacios.com/">Joaquin Palacios</a>,
<a href="https://kathrynlampo.com/">Kathryn Lampo</a>,
<a href="https://www.philippewu.me/">Philippe Wu</a>,
Rosh Ho,
<strong>Eric Chang</strong>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*joint first authorship
<br>
<em>arXiv preprint, 2025</em>
<br>
<a href="https://arxiv.org/abs/2503.12297">arXiv</a>
<br>
<p></p>
<p></p>
</td></tr>
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<span class="papertitle">An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays</span>
<br>
<strong>Eric T. Chang*</strong>,
<a href="https://www.linkedin.com/in/rsw0/">Runsheng Wang*</a>,
<a href="https://www.linkedin.com/in/peter-ballentine-aa53a8153/">Peter Ballentine</a>,
<a href="https://jxu.ai/">Jingxi Xu</a>,
<a href="https://www.linkedin.com/in/trey-smith-robotics">Trey Smith</a>,
<a href="https://brian.coltin.org/">Brian Coltin</a>,
<a href="https://www.ee.columbia.edu/ioannis-john-kymissis">Ioannis Kymissis</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*equal contribution
<br>
<em>ICRA</em>, 2024
<br>
<a href="https://arxiv.org/abs/2310.00206">arXiv</a> |
<a href="https://ieeexplore.ieee.org/document/10611599">IEEE Xplore</a>
<br>
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<p></p>
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<span class="papertitle">Spike-a-Tac: Development Towards a PVDF-based Tactile Finger with Distributed Vibration Sensing</span>
<br>
<strong>Eric T. Chang*</strong>,
<a href="https://www.linkedin.com/in/peter-ballentine-aa53a8153/">Peter Ballentine*</a>,
<a href="https://www.ee.columbia.edu/ioannis-john-kymissis">Ioannis Kymissis</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*equal contribution
<br>
<em>ICRA 2024 ViTac Workshop: Robot Embodiment through Visuo-Tactile Perception</em>
<br>
<a href="https://shanluo.github.io/ViTacWorkshops/content/ViTac2024_Paper_26.pdf">workshop paper</a> |
<a href="data/spikeatac_poster.pdf">workshop poster</a>
<br>
<p>
</p>
<p></p>
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<span class="papertitle">Sampling Based Exploration for Reinforcement Learning of Dexterous Manipulation</span>
<br>
<a href="https://gagkhan.github.io/">Gagan Khandate*</a>,
<a href="https://www.linkedin.com/in/siqishang">Siqi Shang*</a>,
<strong>Eric T. Chang</strong>,
<a href="https://tristansaidi.github.io/">Tristan Luca Saidi</a>,
<a href="https://www.linkedin.com/in/johnson-adams/">Johnson Adams</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
*equal contribution
<br>
<em>Robotics: Science and Systems</em>, 2023
<br>
<a href="https://sbrl.cs.columbia.edu/">project website</a> |
<a href="https://arxiv.org/abs/2303.03486">arXiv</a> |
<a href="https://youtu.be/4mumABI48kM">Video1</a> |
<a href="https://youtu.be/pqufcQ1AB4c?si=BzjZ0UXzbWglFl3w">Video2</a>
<br>
Press: <a href="https://techxplore.com/news/2023-04-highly-dexterous-robot-darkjust.html">Tech Xplore</a>,
<a href="https://www.popsci.com/technology/robot-hand-sixth-sense/">Popular Science</a>,
<!-- <a href="https://new.nsf.gov/news/highly-dexterous-robot-hand-can-operate-dark-just">NSF</a>, -->
<a href="https://time.com/collection/best-inventions-2023/6326934/columbia-university-robotic-hand/">Time</a>
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<span class="papertitle">Building underactuated hands for NASA's Astrobee</span>
<br>
During my internship at NASA Ames (as part of the NSTGRO program), I worked on improving the design of a 3-fingered, underactuated hand for Astrobee, a free-flyer robot on the ISS. This work built off of <a href=https://arxiv.org/pdf/2011.01483>previous work from our lab</a> on underactuated hands. My goal (ongoing) is to integrate our tactile sensors into this hand for use on Astrobee! <br> <br>
See below for photos of our current design of the hand in action on Astrobee at NASA Ames. <br>
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This hand has 3 fingers controlled by a single motor, and exhibits both flexion/extension and abduction/adduction.
Tendons control flexion and abduction, while springs control extension and abduction.
Because the fingers are underactuated and one tendon runs through the distal and proximal links,
the hand naturally conforms to the shape of the object it's grasping, enabling both pinch and power grasps (see photos).
I have spent some time getting the hardware to a working state and making some hardware improvements (particularly to make assembly easier).
Now, we plan to integrate our multimodal tactile fingers onto the distal links. <br>
<img src="images/screwdriver_pinch.png" alt="pinch grasp" style="width: 33%; height: auto;">
<img src="images/battery.png" alt="battery" style="width: 33%; height: auto;">
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<span class="papertitle">Towards Development of a Signal-Dense Multimodal Tactile Finger</span>
<br>
<strong>Eric T. Chang</strong>,
<a href="https://www.linkedin.com/in/peter-ballentine-aa53a8153/">Peter Ballentine</a>,
<a href="https://www.ee.columbia.edu/ioannis-john-kymissis">Ioannis Kymissis</a>,
<a href="https://roam.me.columbia.edu/people/matei-ciocarlie">Matei Ciocarlie</a>
<br>
<em>ICRA 2023 ViTac Workshop: Blending Virtual and Real Visuo-Tactile Perception</em>
<br>
<a href="https://shanluo.github.io/ViTacWorkshops/content/ViTac2023_Paper_01.pdf">workshop paper</a>
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<span class="papertitle">Phase Stability, Bandgap Tuning and Rashba Splitting in Selenium-Alloyed Bournonite</span>
<br>
<strong>Eric T. Chang*</strong>,
<a href="http://mitzilab.pratt.duke.edu/people/gabrielle-koknat">Gabrielle Koknat*</a>,
<a href="https://scholar.google.com/citations?user=aOyd7PcAAAAJ&hl=en">Garrett Mckeown Wessler</a>,
<a href="https://yaoyi92.github.io/">Yi Yao</a>,
<a href="https://aims.pratt.duke.edu/">Volker Blum</a>,
<a href="http://mitzilab.pratt.duke.edu/">David B. Mitzi</a>
<br>
*equal contribution
<br>
<em>Chemistry of Materials</em>, 2023, 35, 2, 595–608
<br>
<a href="https://pubs.acs.org/doi/full/10.1021/acs.chemmater.2c03109">paper</a>
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<span class="papertitle">Development of an Optically Transparent Kidney Model for Laser Lithotripsy Research</span>
<br>
Sabrina Tran,
Junqin Chen,
Gunnar Kozel,
<strong>Eric Chang</strong>,
Trina Phung,
Yanxi Peng,
Zachary Dionise,
Yuan Wu,
W. Neal Simmons,
Michael E. Lipkin,
Glenn M. Preminger,
<a href="https://mems.duke.edu/faculty/pei-zhong">Pei Zhong</a>
<br>
<em>BJU International</em>, 2023, 132, 1, 36-39
<br>
<a href="https://bjui-journals.onlinelibrary.wiley.com/doi/10.1111/bju.16015">paper</a>
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<span class="papertitle">Synthesis and Characterization of Selenium-Alloyed Bournonite CuPbSb(S1-xSex)3: a Prospective Semiconductor for Optoelectronic Applications</span>
<br>
<strong>Eric T. Chang</strong>,
<a href="http://mitzilab.pratt.duke.edu/people/gabrielle-koknat">Gabrielle Koknat</a>,
<a href="https://aims.pratt.duke.edu/">Volker Blum</a>,
<a href="http://mitzilab.pratt.duke.edu/">David B. Mitzi</a>
<br>
<em>MRS Spring Meeting</em>, 2021
<br>
<strong style="color:maroon;">Best poster award, 2nd place Symposium award</strong>
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<span class="papertitle">CTHULHU: The Design and Implementation of Duke Robotics Club's 2019/2020/2021 AUVSI Competition Entry</span>
<br>
<a href="https://duke-robotics.com/">Duke Robotics Club</a>
<br>
<em>RoboSub Competition Technical Design Report</em>, 2019/2020/2021
<br>
<a href="https://duke-robotics.com/wp-content/uploads/2019/10/paper2019.pdf">2019 paper</a> |
<a href="https://duke-robotics.com/wp-content/uploads/2020/08/paper2020.pdf">2020 paper</a> |
<a href="https://duke-robotics.com/wp-content/uploads/2021/08/paper2021.pdf">2021 paper</a>
<br>
<strong style="color:maroon;">Placed 4th/1st (2020/2021) in technical design report at competition</strong>
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<strong>name</strong>,
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<em>arXiv</em>, 2021
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<a href="url">project page</a>
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<a href="url">video</a>
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Website template: <a href="https://github.com/jonbarron/website">Jon Barron</a>
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