Lei Zhang


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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

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

Under Review
Keywords: Generation Model; Multi-fingered Robotic Hand; Grasping from Clutter Scenes.
Webpage  •   PDF  •   Demo  •   FFH Cluttered Grasping Dataset

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

Accepted at ICRA2024
We introduce a Cable Grasping-Convolutional Neural Network (CG-CNN) designed to facilitate robust cable grasping in cluttered environments. Given our model’s implicit collision sensitivity, we achieved commendable success rates of 92.3% for known cables and 88.4% for unknown cables, surpassing contemporary state-of-the-art approaches. 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

Accepted at ICRA2024
We proposed a novel method to simulate structured light camera and generated realistic dataset for object detection, segmentation, robotic grasping tasks.
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  •