{"id":11,"date":"2021-11-21T15:12:46","date_gmt":"2021-11-21T15:12:46","guid":{"rendered":"https:\/\/pangtao.xyz\/?page_id=11"},"modified":"2026-04-10T03:07:39","modified_gmt":"2026-04-10T03:07:39","slug":"home","status":"publish","type":"page","link":"https:\/\/pangtao.xyz\/","title":{"rendered":"Tao Pang"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-page\" data-elementor-id=\"11\" class=\"elementor elementor-11\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-ca7541c elementor-section-height-min-height elementor-section-items-bottom elementor-section-boxed elementor-section-height-default\" data-id=\"ca7541c\" data-element_type=\"section\" data-e-type=\"section\" id=\"home\" data-settings=\"{&quot;background_background&quot;:&quot;video&quot;,&quot;background_video_link&quot;:&quot;https:\\\/\\\/pangtao.xyz\\\/wp-content\\\/uploads\\\/2025\\\/03\\\/allegro_cube_short_1080p.mp4&quot;,&quot;background_video_start&quot;:0,&quot;background_video_end&quot;:100,&quot;animation&quot;:&quot;none&quot;,&quot;background_play_on_mobile&quot;:&quot;yes&quot;,&quot;background_privacy_mode&quot;:&quot;yes&quot;}\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-background-video-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<video class=\"elementor-background-video-hosted\" role=\"presentation\" autoplay muted playsinline loop><\/video>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-background-overlay\"><\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-be10890\" data-id=\"be10890\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-0708f7f elementor-widget elementor-widget-heading\" data-id=\"0708f7f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h1 class=\"elementor-heading-title elementor-size-default\">Hi! I'm Pang.<\/h1>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ffe4386 elementor-widget elementor-widget-text-editor\" data-id=\"ffe4386\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>My research aims to enable robots to confidently and intelligently make contacts.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-7701125 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"7701125\" data-element_type=\"section\" data-e-type=\"section\" id=\"about-me\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-9ad04ba\" data-id=\"9ad04ba\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-13ae7bf elementor-widget elementor-widget-heading\" data-id=\"13ae7bf\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">About Me<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-693f70a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"693f70a\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-1243d2c\" data-id=\"1243d2c\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-86d0768 elementor-widget__width-initial elementor-widget elementor-widget-image\" data-id=\"86d0768\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/elementor\/thumbs\/14525226_10210523411460062_8322813940602354579_o-prrwkijwr3ctly4md1k3bq7voqb78kixqp3lrsfhts.jpg\" title=\"14525226_10210523411460062_8322813940602354579_o\" alt=\"14525226_10210523411460062_8322813940602354579_o\" loading=\"lazy\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-66 elementor-inner-column elementor-element elementor-element-eddb7fd\" data-id=\"eddb7fd\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-a039d38 elementor-widget elementor-widget-text-editor\" data-id=\"a039d38\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>I&#8217;m Tao Pang, a roboticist at the Robotics and AI Institute (formerly Boston Dynamics AI Institute).\u00a0<span style=\"font-size: 1rem;\">I&#8217;m interested in enabling robots to intelligently and dexterously manipulate objects and their surroundings through contact-rich interactions.\u00a0<\/span><\/p><p><span style=\"font-size: 1rem;\">\u00a0<\/span><\/p><p><span style=\"font-size: 1rem;\">My research focuses on two areas: (i) efficient global planning for contact-rich manipulation by leveraging the structure of contact models, and (ii) Reinforcement Learning (RL) and Behavior Cloning (BC) guided by planner-generated data.\u00a0<\/span><\/p><p><span style=\"font-size: 1rem;\">\u00a0<\/span><\/p><p><span style=\"font-size: 1rem;\">More broadly, I believe model-based reasoning is\u00a0<\/span>crucial<span style=\"font-size: 1rem;\">\u00a0not only for efficiently generating the large-scale data needed by robotics foundation models <i>today<\/i>, but also for developing <i>future<\/i> algorithms that help robots learn from experience and ultimately go beyond human performance.<\/span><\/p><p><a href=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2026\/04\/cv_tao_pang.pdf\">CV<\/a> | <a href=\"https:\/\/scholar.google.com\/citations?user=BNNNS-wAAAAJ&amp;hl=en\">Google Scholar<\/a>\u00a0| <a href=\"https:\/\/github.com\/pangtao22\">Github<\/a>\u00a0| <a href=\"https:\/\/www.youtube.com\/channel\/UC9IikXBYZSFNYEIfN0pZiAA\">Youtube<\/a>\u00a0| <a href=\"https:\/\/www.linkedin.com\/in\/tao-pang\/\">LinkedIn<\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-9ff25bd elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"9ff25bd\" data-element_type=\"section\" data-e-type=\"section\" id=\"research\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-5636e5e\" data-id=\"5636e5e\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e892baa elementor-widget elementor-widget-heading\" data-id=\"e892baa\" data-element_type=\"widget\" data-e-type=\"widget\" id=\"research\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Research<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-4081f2b elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"4081f2b\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-4373485\" data-id=\"4373485\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e6d74aa elementor-widget elementor-widget-text-editor\" data-id=\"e6d74aa\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>Planning for Contact-rich Manipulation<\/h3><p><strong>Combining smoothing, quasi-dynamic contact models and classical motion planning methods, we can power through local minima and the exponential explosion of contact modes, and generate complex contact-rich manipulation policies within minutes on a MacBook Pro using just the CPU <\/strong>(video: reaching a goal with our policy on hardware)<strong>.<\/strong><\/p><ul><li><p class=\"title mathjax\">Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets, <em>in submission<\/em>, 2026. [<a href=\"https:\/\/arxiv.org\/abs\/2601.10827\">pdf<\/a>]<br \/>S. Liu*, T. Zhao*, B.P. Graesdal, P. Werner, J. Wang, J. Dolan, C. Liu, <strong>T. Pang<\/strong>.<\/p><\/li><li>Dexterous Contact-Rich Manipulation via the Contact Trust Region, in<em> the International Journal of Robotics Research (IJRR),<\/em> 2025. <b>Recipient of the Inaugural IJRR Best Paper of the Season Award<\/b> (Q2 2025). [<a href=\"https:\/\/ctr.theaiinstitute.com\">website<\/a>]<br \/><strong style=\"font-style: inherit;\"><span style=\"font-style: inherit; font-weight: 400; color: #000000;\"><a style=\"color: #000000; transition-property: all;\" href=\"http:\/\/hjrobotics.net\">H.J.T. Suh<\/a><\/span><span style=\"font-style: inherit; font-weight: 400;\">*,\u00a0<\/span>T. Pang*<\/strong><span style=\"font-style: inherit;\">,<\/span><span style=\"font-style: inherit;\">\u00a0T. Zhao, R. Tedrake.<\/span><\/li><li>Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models, in\u00a0<span style=\"font-style: italic;\">IEEE Transactions on Robotics (T-RO), 2023<\/span>. <strong>Honorable Mention for the IEEE TR-O King-Sun Fu Memorial Best Paper Award<\/strong>. [<a href=\"https:\/\/arxiv.org\/pdf\/2206.10787.pdf\">pdf<\/a>][<a href=\"https:\/\/sites.google.com\/view\/global-planning-contact\/home\">website<\/a>][<a href=\"https:\/\/news.mit.edu\/2023\/ai-technique-robots-manipulate-objects-whole-bodies-0824\">MIT News<\/a>]<br \/><strong>T. Pang*<\/strong>,<span style=\"color: #000000;\"> <a style=\"color: #000000;\" href=\"http:\/\/hjrobotics.net\">H.J.T. Suh<\/a><\/span>*, L. Yang, R. Tedrake.<\/li><li>Bundled gradients through contact via randomized smoothing, in<em> IEEE Robotics and Automation Letters (RA-L), <\/em>2022. [<a href=\"https:\/\/arxiv.org\/pdf\/2109.05143.pdf\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/6BLebS9Y1_8\">video<\/a>]<br \/><span style=\"color: #000000;\"><a style=\"color: #000000;\" href=\"http:\/\/hjrobotics.net\">H.J.T. Suh<\/a><\/span>*<strong><span style=\"font-weight: 400;\">,\u00a0<\/span>T. Pang*<\/strong>, R. Tedrake.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-cb9c282\" data-id=\"cb9c282\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-c848f0f elementor-widget elementor-widget-video\" data-id=\"c848f0f\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;mute&quot;:&quot;yes&quot;,&quot;loop&quot;:&quot;yes&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2025\/03\/square_hand_video.mp4\" loop=\"\" controls=\"\" preload=\"metadata\" muted=\"muted\" controlsList=\"nodownload\" poster=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2025\/03\/hand_reach_goal_poster.jpg\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-cd9a210 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"cd9a210\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-860e9c1\" data-id=\"860e9c1\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-4c82908 elementor-widget elementor-widget-text-editor\" data-id=\"4c82908\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>Planning-Guided Behavior Cloning<\/h3><p><strong>Planning offers a powerful alternative data source for contact-rich manipulation tasks, for which collecting data through teleoperation is challenging <\/strong>(video: a state-based diffusion policy trained entirely from synthetic data running on hardware)<strong>.\u00a0<\/strong><\/p><ul><li>Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?, <em>in\u00a0<em>IEEE Robotics and Automation Letters (RA-L)<\/em>,<\/em> 2025.\u00a0[<a style=\"font-size: 16px;\" href=\"https:\/\/arxiv.org\/pdf\/2412.09743\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/CxgjJmiiEhI\">video<\/a>]<br \/>H. Zhu, T. Zhao, X. Ni, J. Wang, K. Fang, L. Righetti,<strong> T. Pang<\/strong>.<\/li><li>Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization, <em>in RSS<\/em><i>2025<\/i>. [<a href=\"https:\/\/arxiv.org\/pdf\/2502.20382\">pdf<\/a>][<a href=\"https:\/\/lujieyang.github.io\/physicsgen\/\">website<\/a>]<br \/><strong style=\"font-style: inherit;\"><span style=\"font-style: inherit; font-weight: 400; color: #000000;\">L. Yang, <a style=\"color: #000000; transition-property: all;\" href=\"http:\/\/hjrobotics.net\">H.J.T. Suh<\/a><\/span><span style=\"font-style: inherit; font-weight: 400;\">*, T.Zhao*, B. Graesdal, T. Kelestemur, J. Wang, <\/span>T. Pang<\/strong><span style=\"font-style: inherit;\">,<\/span><span style=\"font-style: inherit;\"> R. Tedrake.<\/span><\/li><li>Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation,\u00a0<em>in ICRA<\/em><i>2026<\/i>.\u00a0[<a href=\"https:\/\/arxiv.org\/pdf\/2412.02676\">pdf<\/a>][<a href=\"https:\/\/glide-manip.github.io\">website<\/a>]<br \/><span style=\"color: #000000;\">X. Li, T. Zhao, X. Zhu, J. Wang,<\/span><strong><span style=\"font-weight: 400;\">\u00a0<\/span>T. Pang<\/strong>, K. Fang.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-a8c3a62\" data-id=\"a8c3a62\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-b878588 elementor-widget elementor-widget-video\" data-id=\"b878588\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2025\/03\/typical_iiwa_diffpo_squared.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\" poster=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2025\/03\/starting_frame_iiwa.jpg\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-99ef129 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"99ef129\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-d847aa3\" data-id=\"d847aa3\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-daaeabd elementor-widget elementor-widget-text-editor\" data-id=\"daaeabd\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>Quasi-static Rigid Body Dynamics<\/h3><p><b>Rigid body systems are close to force\u00a0equilibrium for many robotic manipulation tasks (e.g. the one on the right). This assumption allows\u00a0simulating such systems with much larger time steps, as indicated by the choppiness in the video, than using second-order dynamics. Therefore, quasi-static models are more amenable for planning, as the planner can look further into the future while taking fewer steps.<\/b><\/p><ul><li>A convex quasistatic time-stepping scheme for rigid multibody systems with contact and friction, <em>in ICRA2021<\/em>. [<a href=\"https:\/\/groups.csail.mit.edu\/robotics-center\/public_papers\/Pang20b.pdf\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/gJ5h_Kx8fJc\">video<\/a>]<br \/><strong>T. Pang<\/strong>, R. Tedrake.<\/li><li>A robust time-stepping scheme for quasistatic rigid multibody systems, <i>in IROS2018<\/i>. [<a href=\"https:\/\/groups.csail.mit.edu\/robotics-center\/public_papers\/Pang18.pdf\">pdf<\/a>]<br \/><strong>T. Pang<\/strong>, R. Tedrake.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-14a96e5\" data-id=\"14a96e5\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f538ad9 elementor-widget elementor-widget-video\" data-id=\"f538ad9\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/iiwa_block_pickup_4_3-SD-480p.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\" poster=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-16-at-3.08.15-AM.jpg\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-f543f1e elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"f543f1e\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-3d26f53\" data-id=\"3d26f53\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-40a7459 elementor-widget elementor-widget-text-editor\" data-id=\"40a7459\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>Contact Force Estimation &amp; Control from Joint Torque<\/h3><p><strong>Whole-body contact force estimation using only joint-torque measurements has severe limitations. Nevertheless, under the right circumstances, they can keep both the robot and the environment safe when accidental collision happens. As shown on the right, the robot bumped into an egg, but did not crush it!\u00a0<\/strong><\/p><ul><li>Easing reliance on collision-free planning with contact-aware control,\u00a0<em>in ICRA2022<\/em>. [<a href=\"https:\/\/groups.csail.mit.edu\/robotics-center\/public_papers\/Pang21.pdf\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/M-7JMQRkiPk\">video<\/a>]<br \/><strong>T. Pang<\/strong>, R. Tedrake.<\/li><li>Identifying external contacts from joint torque measurements on serial robotic arms and its limitations, <em>in ICRA2021<\/em>. [<a href=\"https:\/\/groups.csail.mit.edu\/robotics-center\/public_papers\/Pang20a.pdf\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/3TjevLu55V8\">video<\/a>]<br \/><strong>T. Pang<\/strong>, <span style=\"color: #000000;\"><a style=\"color: #000000;\" href=\"https:\/\/umenberger.github.io\">J. Umenberger<\/a><\/span>, R. Tedrake.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-9e65cea\" data-id=\"9e65cea\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-b1d1867 elementor-widget elementor-widget-video\" data-id=\"b1d1867\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;mute&quot;:&quot;yes&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/egg_survives_iiwa-SD-480p-1.mp4\" controls=\"\" preload=\"metadata\" muted=\"muted\" controlsList=\"nodownload\" poster=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-15-at-9.23.40-PM.jpg\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-94d6fec elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"94d6fec\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-bef2fe9\" data-id=\"bef2fe9\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f22e6e1 elementor-widget elementor-widget-text-editor\" data-id=\"f22e6e1\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><strong style=\"font-style: inherit;\">Gasoline Variable-pitch Quadcopter<\/strong><\/h3><p><strong>A strange creation that weighs 10 kg and can remain\u00a0airborne\u00a0for up to 3 hours by burning\u00a0fossil fuel. It was built at a time when electric\u00a0quadcopters\u00a0were getting popular due to their mechanical simplicity, but could only fly for less than 30 minutes. Not any more.\u00a0<\/strong><\/p><ul><li>Towards long-endurance flight: Design and implementation of a variable-pitch gasoline-engine quadrotor,\u00a0<em>in IEEE ICCA 2016<\/em>. [<a href=\"https:\/\/arxiv.org\/pdf\/1708.02922.pdf\">pdf<\/a>][<a href=\"https:\/\/youtu.be\/ANAi2FH8QSM\">video<\/a>]<br \/><strong>T. Pang<\/strong>,\u00a0K. Peng, F. Lin, B.M. Chen.<\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-8cfe3b1\" data-id=\"8cfe3b1\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-93980de elementor-widget elementor-widget-video\" data-id=\"93980de\" data-element_type=\"widget\" data-e-type=\"widget\" data-settings=\"{&quot;youtube_url&quot;:&quot;https:\\\/\\\/www.youtube.com\\\/watch?v=Z1rqmJRj-TA&quot;,&quot;show_image_overlay&quot;:&quot;yes&quot;,&quot;image_overlay&quot;:{&quot;url&quot;:&quot;https:\\\/\\\/pangtao.xyz\\\/wp-content\\\/uploads\\\/2022\\\/07\\\/Screen-Shot-2022-07-25-at-1.44.24-AM.jpg&quot;,&quot;id&quot;:1626,&quot;size&quot;:&quot;&quot;,&quot;alt&quot;:&quot;&quot;,&quot;source&quot;:&quot;library&quot;},&quot;mute&quot;:&quot;yes&quot;,&quot;video_type&quot;:&quot;youtube&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-wrapper elementor-open-inline\">\n\t\t\t<div class=\"elementor-video\"><\/div>\t\t\t\t<div class=\"elementor-custom-embed-image-overlay\" style=\"background-image: url(https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-1.44.24-AM.jpg);\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-92b990d elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"92b990d\" data-element_type=\"section\" data-e-type=\"section\" id=\"projects\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-ace73f5\" data-id=\"ace73f5\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-cdcea3c elementor-widget elementor-widget-heading\" data-id=\"cdcea3c\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Projects<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-7ee4f7f elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"7ee4f7f\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-66 elementor-top-column elementor-element elementor-element-05097cb\" data-id=\"05097cb\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1854c18 elementor-widget elementor-widget-text-editor\" data-id=\"1854c18\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>3D Geometry Reconstruction from NeRF<\/h3><p><strong>Class project of MIT <a href=\"http:\/\/6.869.csail.mit.edu\/sp22\/\">6.869<\/a>. I observed that in order for NeRF to accurately learn the object geometry, color needs to be a function of both spatial position and viewing direction.<\/strong><\/p><p><strong>[<a href=\"https:\/\/slides.com\/pang\/deck-7d71e1\">interactive slides<\/a>][<a href=\"https:\/\/github.com\/pangtao22\/nerf_6869_spring21\">repo<\/a>]<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-83c1109\" data-id=\"83c1109\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-edbf223 elementor-widget elementor-widget-image\" data-id=\"edbf223\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"717\" height=\"471\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.26.06-AM.jpg\" class=\"attachment-large size-large wp-image-1596\" alt=\"\" srcset=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.26.06-AM.jpg 717w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.26.06-AM-300x197.jpg 300w\" sizes=\"(max-width: 717px) 100vw, 717px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-728b64c elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"728b64c\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-66 elementor-top-column elementor-element elementor-element-346395b\" data-id=\"346395b\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-af1fa78 elementor-widget elementor-widget-text-editor\" data-id=\"af1fa78\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3>the Rendering Pipeline<\/h3><p><strong>Homeworks of CMU <a href=\"http:\/\/15462.courses.cs.cmu.edu\/spring2022\/\">15.462<\/a>. I implemented CPU-based rendering pipelines, including rasterization, mesh manipulation and ray-tracing accelerated by Bounding Volume Hierarchy (BVH). The image to the right is rendered by code written by me!\u00a0<\/strong><\/p><p><strong>[<a href=\"https:\/\/github.com\/pangtao22\/Scotty3D\">repo<\/a>]<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-0454d3e\" data-id=\"0454d3e\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e3b420a elementor-widget elementor-widget-image\" data-id=\"e3b420a\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"768\" height=\"576\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/CBlucy-768x576.jpeg\" class=\"attachment-medium_large size-medium_large wp-image-1607\" alt=\"\" srcset=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/CBlucy-768x576.jpeg 768w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/CBlucy-300x225.jpeg 300w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/CBlucy-1024x768.jpeg 1024w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/CBlucy.jpeg 1376w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-796df92 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"796df92\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-66 elementor-top-column elementor-element elementor-element-29b271e\" data-id=\"29b271e\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-cc40d40 elementor-widget elementor-widget-text-editor\" data-id=\"cc40d40\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><strong style=\"font-style: inherit;\">Active SLAM for a Planar Robot<\/strong><\/h3>\n<p><strong>Class project of MIT <a href=\"https:\/\/ocw.mit.edu\/courses\/16-485-visual-navigation-for-autonomous-vehicles-vnav-fall-2020\/\">16.485<\/a>, where I implemented a&nbsp;path planner that actively seeks to reduce pose uncertainty by returning to observed landmarks, in addition to SLAM with loop-closure.&nbsp;<\/strong><\/p>\n<p><strong>[<a href=\"https:\/\/slides.com\/pang\/deck-7a6e5e\">interactive slides<\/a>][<a href=\"https:\/\/github.com\/pangtao22\/active_slam\">repo<\/a>]<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-top-column elementor-element elementor-element-b10f37c\" data-id=\"b10f37c\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-9f724b5 elementor-widget elementor-widget-image\" data-id=\"9f724b5\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1024\" height=\"628\" src=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.54.08-AM-1024x628.jpg\" class=\"attachment-large size-large wp-image-1611\" alt=\"\" srcset=\"https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.54.08-AM-1024x628.jpg 1024w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.54.08-AM-300x184.jpg 300w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.54.08-AM-768x471.jpg 768w, https:\/\/pangtao.xyz\/wp-content\/uploads\/2022\/07\/Screen-Shot-2022-07-25-at-2.54.08-AM.jpg 1078w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Hi! I&#8217;m Pang. My research aims to enable robots to confidently and intelligently make contacts. About Me I&#8217;m Tao Pang, a roboticist at the Robotics and AI Institute (formerly Boston Dynamics AI Institute).\u00a0I&#8217;m interested in enabling robots to intelligently and dexterously manipulate objects and their surroundings through contact-rich interactions.\u00a0 \u00a0 My research focuses on two [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"site-sidebar-layout":"no-sidebar","site-content-layout":"page-builder","ast-site-content-layout":"full-width-container","site-content-style":"unboxed","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"disabled","ast-breadcrumbs-content":"","ast-featured-img":"disabled","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"enabled","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-11","page","type-page","status-publish","hentry"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/pages\/11","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/pangtao.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=11"}],"version-history":[{"count":362,"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/pages\/11\/revisions"}],"predecessor-version":[{"id":1803,"href":"https:\/\/pangtao.xyz\/index.php?rest_route=\/wp\/v2\/pages\/11\/revisions\/1803"}],"wp:attachment":[{"href":"https:\/\/pangtao.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=11"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}