马致远

北京大学 信息科学技术学院

About me

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.

age : 20

address : Peking University

GPA : 3.605

hobbies : guitar,singing,ping pong

email : 1829142919@qq.com

CET-6 : 564

Experience

Sep.2022 - now

Undergraduate at Peking University

Jan.2024

Selected for Bajian Plan

May.2024 - July.2024

PKU-EPIC & Galbot joint lab

July 2024 – now

PKU-Hyperplane & Agibot Lab

Research

May.2024 - July.2024

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.

July.2024 - now

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.

publications

not yet

Awards

Dec.2023

Merit Student

in the academic year of 2022-2023

Dec.2023

Lingjun Pioneer Scholarship

in the academic year of 2022-2023

contact info

my address

Peking University

Beijing Haidian District

my number

(+86)18810685032

my email

1829142919@qq.com

2200013163@stu.pku.edu.cn