Intern at PKU-EPIC Lab (Mentor: Jiayi Chen)

I studied deep learning, 3D representations, and fundamental robotics. I assisted in organizing articulated object datasets (GAPartNet, UnidoorManip, AKB48) and implemented some code practices based on DexGraspNet and curobo. I presented papers in group meetings and participated in lab discussions every week.

Cross-Embodiment Dexterous Grasping in Cluttered Scenes

This is my current ongoing project, mentored by Jiyao Zhang and Tianhao Wu. We employ a hand-agnostic grasp pose representation method, namely the improved IBS (Interaction Bisector Surface), to guide our model in grasping with unseen robotic hands in cluttered scenes. We designed a two-stage generative network to predict IBS representations from scene observation point clouds, which is used to guide hand pose optimization, and finally execute scene-level grasping on the physical robot.