Lei Zhang


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Email: zhanglei dot cn dot de at gmail dot com
Dexterous Robotic Manipulation; Computer Vision; Deep Learning; Reinforcement Learning

Education:
University of Hamburg (UHH, Germany) | Ph.D. Student
Leibniz Universität Hannover (LUH, Germany) | M.Sc., Sep. 2017 - Mar. 2020
Harbin Institute of Technology (HIT, China) | B.Sc., Sep. 2012 - June. 2016

ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation

Under Review, 2024
Kaixin Bai, Huajian Zeng, Lei Zhang*, Yiwen Liu, Hongli Xu, Zhaopeng Chen, Jianwei Zhang
Keywords: Transparent Object; Stereo Perception.
Webpage  •   ArXiv  •   PDF  •   Demo  •   Dataset


FFHClutteredGrasping: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-object Contact Semantic Mapping

Under Review, 2024
Lei Zhang, Kaixin Bai, Guowen Huang, Zhenshan Bing, Zhaopeng Chen, Alois Knoll, Jianwei Zhang
Keywords: Generation Model; Multi-fingered Robotic Hand; Grasping from Clutter Scenes.
Webpage  •   ArXiv  •   PDF  •   Demo  •   FFH Cluttered Grasping Dataset


ToolEENet: Tool Affordance 6D Pose Estimation

2024 IEEE International Conference on Intelligent Robots and Systems (IROS2024)
Yunlong Wang, Lei Zhang, Yuyang Tu, Hui Zhang, Kaixin Bai, Zhaopeng Chen, Jianwei Zhang
Keywords: 6D Pose Estimation, Multi-fingered Robotic Hand, Tool Use.
Webpage  •   PDF  •   Code  •   Dataset


CG-CNN: A Collision-Aware Cable Grasping Method in Cluttered Environment

2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Lei Zhang, Kaixin Bai, Qiang Li, Zhaopeng Chen, Jianwei Zhang
Keywords: Collision Awareness; Grasping from Clutter Scenes with Complicated Objects; Sim-to-Real Tranfer.
Webpage  •   PDF  •   Demo  •   Cable Grasping Dataset


Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation

2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Kaixin Bai, Lei Zhang, Zhaopeng Chen, Fang Wan, Jianwei Zhang
Keywords: Structured-light Simulation for Generation of Realistic Data; Data Generation for Perception; Reduce Sim2Real Gap.
Webpage  •   PDF  •   Demo  •   Photorealistic Structured-light Dataset


Towards Precise Model-free Robotic Grasping with Sim-to-Real Transfer Learning

Lei Zhang, Kaixin Bai, Zhaopeng Chen, Yunlei Shi, Jianwei Zhang
2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022).
★ Best Conference Paper Award Finalist, ROBIO ★
Keywords: Data augmentation for Generation of Dense Grasping Labels; Sim-to-Real Transfer; Model-free Grasping Dataset.
Webpage  •   PDF  •   Demo


Learning of 6D Object Poses with Multi-task Point-wise Regression Deep Networks

Kaixin Bai, Lei Zhang, Zhaopeng Chen, Jianwei Zhang
2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022).
Keywords: Deep Learning-based 6D Pose Estimation; 6D Rotation Representation; 6D Pose Estimation-based Robotic Grasping.
WebPage  •  


Maximizing the Use of Environmental Constraints: A Pushing-Based Hybrid Position/Force Assembly Skill for Contact-Rich Tasks

Yunlei Shi, Zhaopeng Chen, Lin Cong, Yansong Wu, Martin Craiu-Müller, Chengjie Yuan, Chunyang Chang, Lei Zhang, Jianwei Zhang
2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021).
Keywords: Contact-Rich Assembly; Hybrid Position/Force.
PDF  •