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I am a junior undergraduate student in Turing class at the School of EECS, Peking University and a research intern at Beijing Institute for General Artificial Intelligence (BIGAI), co-advised by Prof. Hao Dong and Prof. Yaodong Yang. It is worth mentioning that I have a twin brother named Haoran Geng, as our experiences have shown that we are frequently mistaken for one another🤣. Email / Semantic Scholar / Github / Twitter / WeChat / Bilibili |
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Arxiv / Code / Documentation / Community Under Review 2023 OmniSafe is an infrastructural framework designed to accelerate safe reinforcement learning (RL) research. |
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Paper / Code Under Review 2023 We introduce ReDMan, an open-source simulation platform that provides a standardized implementation of safe RL algorithms for Reliable Dexterous Manipulation. |
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Paper / Code Under Review 2023 This study offers a unified, highly-optimized, and extensible safe RL algorithm benchmark (SafePO), which benchmarks popular safe policy learning algorithms across a list of typical environments. |
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Arxiv / Project Page CVPR 2023 We introduce a large-scale, part-based, cross-category object manipulation benchmark with tasks in realistic, vision-based settings. |
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RLAfford: End-to-End Affordance Learning for Robotic Manipulation ArXiv / Project Page / Video / Code / Code (Renderer) / Dataset / Media (CFCS) / Media (PKU) ICRA 2023 In this study, we take advantage of visual affordance by using the contact information generated during the RL training process to predict contact maps of interest. |
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GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF ArXiv / Project Page / Code ICRA 2023 We propose a multiview RGB-based 6-DoF grasp detection network, GraspNeRF, that leverages the generalizable neural radiance field (NeRF) to achieve material-agnostic object grasping in clutter. |
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ArXiv / Project Page / Code / Dataset / Video / Media ICRA 2023 This paper introduces GenDexGrasp, a versatile dexterous grasping method that can generalize to unseen hands. |
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Paper (Coming Soon) / Challenge Page / Code / Slides / Talk / Award / Media (BIGAI) / Media (CFCS) / Media (PKU-EECS) / Media (PKU-IAI) / Media (PKU) / Media (China Youth Daily) First Place in NeurIPS 2022 Challenge Track (1st in 340 submissions from 40 teams) To appear in PMLR Reconfiguring a die to match desired goal orientations. This task require delicate coordination of various muscles to manipulate the die without dropping it. |
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Paper (Long Version) / ArXiv (Short Version) / Project Page / Code Long Version: T-PAMI 2023 Under Review Short Version: NeurIPS 2022 We propose a bimanual dexterous manipulation benchmark according to literature from cognitive science for comprehensive reinforcement learning research. |
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ArXiv This study is the first attempt to formulate the dynamic grasping problem as a “move-and-grasp” game and use adversarial RL to train the grasping policy and object moving strategies jointly. |
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Selected as the Outstanding Thesis of the National Physics Forum 2018 During my high school years, I was selected for the Ministry of Education Talent Program and conducted physics research at Nankai University and presenting my thesis at the National Physics Forum 2018. |
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Massachusetts Institute of Technology (MIT)
2023.01 - Present Visiting Researcher Research Advisor: Prof. Josh Tenenbaum and Prof. Chuang Gan |
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Beijing Institute for General Artificial Intelligence (BIGAI)
2022.05 - Present Research Intern Research Advisor: Prof. Yaodong Yang Academic Advisor: Prof. Song-Chun Zhu |
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Turing Class, Peking University (PKU)
2020.09 - Present Undergraduate Student Research Advisor: Prof. Hao Dong Academic Advisor: Prof. Zhenjiang Hu |
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This template is a modification to Jon Barron's website. |