北京大学 信息科学技术学院
I'm Zhiyuan Ma, an undergraduate of Peking University, class of 2022. I major in computer science, and is selected for the Top Selection plan(bajian plan). Now I'm studying embodied AI in professor Hao Dong 's PKU-Agibot lab, following the guidance of Jiyao Zhang.
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.
July.2024 - nowThis 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.
in the academic year of 2022-2023
in the academic year of 2022-2023
Peking University
Beijing Haidian District
(+86)18810685032
1829142919@qq.com
2200013163@stu.pku.edu.cn