Intro

I am a second-year Master student majoring in Mechanical Engineering at University of California, San Diego (CA, US) advised by Prof. Xiaolong Wang.

My interested research areas include Robotics, Dexterous manipulation, Reinforcement Learning, Control, Motion Planning, Building robotic simulation environment. My research goal is to build the Robust Robot system taht can work like humans or have a strong understanding of their surrounding environments, not only in vision but also in contact and other physical information.

I am also a content creator in Robotics with 63000+ followers. [My Video Channel].

[CV] [Personal Website] [twitter] .

Publication

Research Experience

Research Assistant, Xiaolong Wang's Group, UC San Diego,Sep2021- now

• Manipulation of a Robot arm with Dexterous Hand based on ROS, building the arm-hand system with hardware design, control, and trajectory optimization.
Dexterous manipulation RL policy with Point Cloud input and applied it to the real robot system. Using Xarm with Allegro-Hand robot system to deploy multitasks with point cloud RL policy and overcome sim2real gap. [webpage] [paper] [code]

• Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning. Transfer the task of throwing and catching balls from the sim to the real.
• Dexterous manipulation RL policy with contact information to do reorientation task. Attach 16 fsr sensor to the Allegro Hand and transfer the in-hand manipulation task from sim to real.


Research Assistant, Lab of Flexible Sensors and Intelligent Equipment, Zhejiang University

• Achieved a Speech offline Control Strategy by using Pocketsphinx, Auto-Navigation with 2D-Lidar of mobile robot based on ROS.
• Designed a vision tracking method for obstacle avoidance of a mobile robot by using object detective.
• Designed an Auto-Navigation Method combined with Computer Vision and 2D-Lidar of mobile robot in Medical Service Assist Combating COVID-19.



Interests

Robotics Video Channel

Unlike the Robotics research mentioned above, I am also a content creator with a passion for spreading robotics knowledge. I have a Robotics Video Channel with 63000+ followers. One of the most Widely Knwon Video has 1.84+ million views, talking about robot combined with brain-computer interface.


Sad Stories with Robots

I have built and emergently reqaired a variety of robotic equipments. Also, I have dealt with many dangerous situations, such as a robot losing control, a robot motor on fire, and damaged gearbox.


NEXTEV Formula Student Electric China (FSEC),Sep 2017

I have joined the Nextev Formula Student Electric China (FSEC) in 2017. In the team, I am in charge of the steering system design part in the team, completed engineering drawing, commissioned factory processing, and finally assembled with other departments into a formula car. Also, Applied for a patent: A kind of university student's equation motorcycle race steering, manufacture and its installation method :2017105998790.1.
[Google Patent], [pdf]



Credit: web source from Dr. Songfang Han