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<!DOCTYPE HTML>
<html lang="en"><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Kaiwen Jiang</title>
<meta name="author" content="Kaiwen Jiang">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
<link rel="icon" href="icon.png">
</head>
<body>
<table style="width:900px;max-width:900px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr style="padding:0px">
<td style="padding:0px">
<!-- ======= About Section ======= -->
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr style="padding:0px">
<p style="margin:20px 0 -5px 0px;text-align:center">
<name>Kaiwen Jiang <ch_name>姜凯文</ch_name> </name>
<br>
<strong>Email</strong>: boocoly [at] gmail.com   <!--<strong>Office</strong>: COM3-B1-33 -->
</p>
<td style="padding:2%;width:30%;max-width:33%">
<img style="width:100%;max-width:100%" alt="profile photo" src="images/selfie.jpg" class="hoverZoomLink">
</td>
<td style="padding:2.5%;width:67%;vertical-align:middle">
<p>
Hi, I am now a Research Assistant in Robotics (Learning-based Control) at <a href="https://www.sustech.edu.cn/">Southern University of Science and Technology(SUSTech)</a>,
advised by <a href='https://zjui.intl.zju.edu.cn/en/team/teacherinfo/2461'>Prof. Hua CHEN</a> and <a href='https://www.sustech.edu.cn/en/faculties/zhangwei-2.html'>Prof. Wei ZHANG</a>.
I am also an incoming HKU ME PhD student for 2025, under the supervision of <a href='https://www.mech.hku.hk/academic-staff/zhang-f'>Prof. Fu ZHANG</a>.
My research interest lies in the intersection of Deep Reinforcement Learning and Robotics. Specifically, for example, I am interested in learning a whole-body control scheme to achieve loco-manipulation of a wheeled quadrupedal/bipedal manipulator.
</p>
<p>
I obtained my B.E. in Automation from <a href="http://en.hit.edu.cn/">Harbin Institute of Technology, Shenzhen</a> in Jun. 2024.
</p>
<p>
I am also eager to venture into diverse fields, e.g. model-based RL, AMP & ASE,
learning based perceptive loco-manipulation, Transformers' and Diffusions' application on bipeds/humanoid.
</p>
<p style="text-align:center">
<a href="data/CV_Kaiwen_Jiang.pdf">CV</a> <!--  / -->
<!-- <a href="https://scholar.google.com/citations?user=qrgIuiEAAAAJ&hl=en">Google Scholar</a>  / -->
<!-- <a href="https://github.com/wangzishuo2002">Github</a> -->
<!-- <a href="https://twitter.com/anxingxiao">Twitter</a>--></p>
</td>
</tr>
</tbody></table>
<hr class="hr-edge-weak">
<!-- ======= Reseach Intro Section ======= -->
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<heading>Research</heading>
<p style="margin:15px 0 -5px 0px;">
</tr>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<papertitle>Kaiwen Jiang etc. “Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with Wheeled-Quadrupedal-Manipulator”, published in 18 December, 2024. Website: https://clearlab-sustech.github.io/RFM_loco_mani/</papertitle>
</tr>
</tbody></table>
<!-- ======= Reseach Items Section ======= -->
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr onmouseout="spot_stop()" onmouseover="spot_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/cup_picking.png' style="width:100%; height:100%; max-width:100%">
<img src='images/cup_picking.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/cup_picking.gif' style="width:100%; height:100%; max-width:100%">
</div>
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}
spot_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>Learning Whole-Body 6D Task Space Manipulation</papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
We develop a whole-body policy for loco-manipulation of wheeled quadrupedal manipulator, which can track a desired 6D pose of end-effector. This policy has several features:
1) it is omni-directional, 2) it is robust to external disturbances,
3) it is an end-to-end scheme that only requires the pose command from user, then the policy will automatically determine the movement of base as well as the manipulator to track the desired pose.
4) The real world experiments demonstrate
smooth and precise tracking performance, achieving state-of-the-
art tracking position error of less than 5 cm, and rotation error
of less than 0.1 rad.
</p>
</td>
</tr>
<tr onmouseout="bulkcarrier_stop()" onmouseover="bulkcarrier_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/smooth_loco_mani.png' style="width:100%; height:100%; max-width:100%">
<img src='images/smooth_loco_mani.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/smooth_loco_mani.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function bulkcarrier_start() {
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}
bulkcarrier_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>Smooth Loco-manipulation</papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
Achieving smooth loco-manipulation task execution. The policy is trained to combine the locomotion and manipulation tasks, resulting in a smooth integration of locomotion and manipulation.
</p>
</td>
</tr>
<tr onmouseout="antiphoto_stop()" onmouseover="antiphoto_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/parallel.png' style="width:100%; height:100%; max-width:100%">
<img src='images/parallel.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/parallel.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function antiphoto_start() {
document.getElementById('images/parallel.png').style.opacity = "0";
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antiphoto_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>Parallel Trainning in Issac Gym</papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
Our policy is trained in parallel in Issac Gym with domain randomization and observation noise. We adopt the insight of Teacher-Student framwork and curriculum learning to train the policy.
</p>
</td>
</tr>
</tbody></table>
<br>
<hr class="hr-edge-weak">
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<heading>Undergradulate Research</heading>
<p style="margin:15px 0 -5px 0px;">
</tr>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<papertitle> Kaiwen Jiang, Zhi Li, Ying Zhang, “An Inversion-free Iterative Algorithm with a Scalar Tuning
Parameter for Coupled Riccati Matrix Equation” IEEE Transactions on Automatic Control
TAC, accepted, 2024.</papertitle>
</tr>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<papertitle>Kaiwen Jiang, Zhi Li, Ying Zhang, “The Structure-preserving Doubling Algorithm for the
Discrete Coupled Riccati Matrix Equations,” Proceedings of the 2nd Conference on Fully
Actuated System Theory and Applications, July 14-16, 2023</papertitle>
</tr>
</tbody></table>
<br>
<hr class="hr-edge-weak">
<!-- ======= Course Projects Items Section ======= -->
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<br>
<heading style="padding:20px ;">Projects</heading>
<br>
<br>
<tr onmouseout="curling_stop()" onmouseover="curling_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/x_axis_chicken_head.png' style="width:100%; height:100%; max-width:100%">
<img src='images/x_axis_chicken_head.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/x_axis_chicken_head.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function curling_start() {
document.getElementById('images/x_axis_chicken_head.png').style.opacity = "0";
}
function curling_stop() {
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}
curling_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>X-axis chicken-head motion </papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
Using NMPC+WBC to achieve the X-axis chicken-head motion of the quadrupedal robot.
</p>
</td>
</tr>
<tr onmouseout="braintumour_stop()" onmouseover="braintumour_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/yaw_chicken_head.png' style="width:100%; height:100%; max-width:100%">
<img src='images/yaw_chicken_head.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/yaw_chicken_head.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function braintumour_start() {
document.getElementById('images/yaw_chicken_head.png').style.opacity = "0";
}
function braintumour_stop() {
document.getElementById('images/yaw_chicken_head.png').style.opacity = "1";
}
braintumour_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>Yaw-axis chicken-head motion</papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
Using NMPC+WBC to achieve the Yaw-axis chicken-head motion of the quadrupedal robot.
</p>
</td>
</tr>
<tr onmouseout="PTZ_stop()" onmouseover="PTZ_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/terrain_car.png' style="width:100%; height:100%; max-width:100%">
<img src='images/terrain_car.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/terrain_car.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function PTZ_start() {
document.getElementById('images/terrain_car.png').style.opacity = "0";
}
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}
PTZ_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>All Terrain Car</papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
We designed and programmed an all-terrain vehicle in the China Robotics and artificial intelligence competition.
The car can drive on different terrains to complete the tasks specified by the organizers.
</p>
</td>
</tr>
<tr onmouseout="multileg_stop()" onmouseover="multileg_start()" >
<td style="padding:20px;width:30%;vertical-align:middle">
<div class="one">
<div class="two" id='images/xylophone.png' style="width:100%; height:100%; max-width:100%">
<img src='images/xylophone.png' style="width:100%; height:100%; max-width:100%">
</div>
<img src='images/xylophone.gif' style="width:100%; height:100%; max-width:100%">
</div>
<script type="text/javascript">
function multileg_start() {
document.getElementById('images/xylophone.png').style.opacity = "0";
}
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document.getElementById('images/xylophone.png').style.opacity = "1";
}
multileg_stop()
</script>
</td>
<td style="padding:20px;width:70%;vertical-align:middle">
<papertitle>Robotic arm motion planning </papertitle>
<p style="margin:10px 0 5px 0px;font-size: 15px;">
Play the xylophone. Through the motion planning in the Cartesian space of the robotic arm,
it is transformed into the joint trajectory in the joint space, and finally the motion control of the robotic arm is realized.
</p>
</td>
</tr>
</tbody></table>
<br>
<!-- <hr class="hr-edge-weak">-->
<!-- ======= Major Courses Section ======= -->
<!-- <table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<br>
<heading style="padding:20px ;">Major Courses</heading>
<br>
<br>
<tr>
<td style="padding:20px;width:20%;vertical-align:middle">
<h3 style="margin:-20px 0 10px 0px;">Control:</h3>
<img style="width:100%;max-width:100%" alt="profile photo" src="images/control.jpg" class="hoverZoomLink">
</td>
<td style="padding:0px;width:80%;vertical-align:middle">
Berkeley EE291E: Hybrid System and Intelligent Control (Prof. S. Shankar Sastry)</br>
Berkeley ME232: Advanced Control Systems (Prof. Kameshwar Poolla)</br>
Berkeley EE220C: State Estimation and Optimal Control (Prof. Mark Mueller)</br>
Berkeley EE128: Feedback Control System (Prof. Ronald Fearing)</br>
</td>
</tr>
<tr >
<td style="padding:20px;width:20%;vertical-align:middle">
<h3 style="margin:-25px 0 10px 0px;">Robotics:</h3>
<img style="width:100%;max-width:100%" alt="profile photo" src="images/robot.jpg" class="hoverZoomLink">
</td>
<td style="padding:0px;width:80%;vertical-align:middle">
Berkeley EECS106B: Robotic Manipulation and Interaction (Prof. Ruzena Bajcsy, Prof. S. Shankar Sastry)</br>
Berkeley ME102B: Mechatronics Design (Prof. Hannah Stuart)</br>
HIT AUTO2004: Design and Practice of Robotic System</br>
</td>
</tr>
<tr >
<td style="padding:20px;width:21%;vertical-align:middle">
<h3 style="margin:-25px 0 10px 0px;">AI & ML:</h3>
<img style="width:100%;max-width:100%" alt="profile photo" src="images/ai.jpg" class="hoverZoomLink">
</td>
<td style="padding:0px;width:80%;vertical-align:middle">
NUS CS6216: Graph Machine Learning (Prof. Xavier Bresson)</br>
NUS CS5340: Probabilistic Graphical Models (Prof. Harold Soh)</br>
Berkeley CS294: Geometry and Learning for 3D Vision (Prof. Yi Ma)</br>
HIT AUTO2012: Introduction to Machine Learning
</td>
</tr>
<tr >
<td style="padding:20px;width:20%;vertical-align:middle">
<h3 style="margin:-25px 0 10px 0px;">Theoretical:</h3>
<img style="width:100%;max-width:100%" alt="profile photo" src="images/Theoretical.jpg" class="hoverZoomLink">
</td>
<td style="padding:0px;width:80%;vertical-align:middle">
Berkeley E231: Mathematical Methods in Eng. (Prof. Andrew Packard, Prof. Murat Arcak, Prof. Mark Mueller)</br>
HIT MATH1009: Advanced Linear Algebra I, II (张贤科)</br>
HIT MATH1010: Mathematical Analysis I, II, III (严质彬))</br>
HIT EMEC1002: Theoretical Mechanics</br>
</td>
</tr>
</tbody></table>
<br>
<hr class="hr-edge-weak"> -->
<!-- <!– ======= Academic Service Section ======= –>-->
<!-- <table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>-->
<!-- <tr>-->
<!-- <td style="padding:20px;width:100%;vertical-align:middle">-->
<!-- <heading> Academic Service</heading>-->
<!-- <h3 style="margin:15px 0 5px 0px;">Journal Reviewer:</h3>-->
<!-- IEEE Robotics and Automation Letters (RA-L), 2022, 2023</br>-->
<!-- IEEE Transactions on Robotics (T-RO), 2021</br>-->
<!-- Biomimetic Intelligence and Robotics (BIROB), 2021</br>-->
<!-- <h3 style="margin:15px 0 5px 0px;">Conference Reviewer:</h3>-->
<!-- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022</br>-->
<!-- IEEE International Conference on Robotics and Automation (ICRA), 2022, 2023</br>-->
<!-- IEEE International Conference on Robotics and Biomimetics (ROBIO), 2021</br>-->
<!-- -->
<!-- <h3 style="margin:15px 0 5px 0px;">Undergraduate Research Mentor:</h3>-->
<!-- Quadruped Guidance Robot, Tsinghua University, 2021.9 – 2022.3</br>-->
<!-- Plane-Fitting based Uneven Terrain Navigation Framework, Tsinghua University, 2021.9 – 2022.3</br>-->
<!-- -->
<!-- </tr>-->
<!-- </tbody></table>-->
<!-- <br>-->
<!-- <hr class="hr-edge-weak">-->
<!-- <!– ======= Misc Section ======= –>-->
<!-- <table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>-->
<!-- <tr>-->
<!-- <td style="padding:20px;width:100%;vertical-align:middle">-->
<!-- <heading> Misc</heading>-->
<!-- <h3 style="margin:15px 0 5px 0px;">Erdös number:</h3>-->
<!-- My Erdos number is 4</br>-->
<!-- Anxing Xiao -> Koushil Sreenath -> S. Shankar Sastry -> Béla Bollobás -> Paul Erdős-->
<!-- <h3 style="margin:15px 0 5px 0px;">Memberships:</h3>-->
<!-- IEEE Student Member, IEEE Robotics and Automation Society Member-->
<!-- <!– <h3 style="margin:15px 0 5px 0px;">Co-authors:</h3>-->
<!-- Koushil Sreenath, Mechanical Engineering, UC Berkeley.</br>-->
<!-- Jun Zeng, Mechanical Engineering, UC Berkeley/Cruise LLC.<br>-->
<!-- Zhongyu Li, Mechanical Engineering, UC Berkeley.<br>-->
<!-- Ayush Agrawal, Mechanical Engineering, UC Berkeley.<br>-->
<!-- Scott Gilroy, Mechanical Engineering, UC Berkeley/Boston Dynamics.<br>-->
<!-- Lizhi Yang, Mechanical Engineering, Caltech.</br>-->
<!-- Wenzhe Tong, Electrical and Computer Engineering, UMich.</br>-->
<!-- Hao Luan, Electrical and Computer Engineering, UofT.</br>-->
<!-- Max Q.-H. Meng, Electronic Engineering, CUHK/SUSTech.</br>-->
<!-- Yunhui Liu, Mechanical and Automation Engineering, CUHK.</br>-->
<!-- Jiankun Wang, Electronic and Electrical Engineering, SUSTech.</br>-->
<!-- Shiwu Zhang, Precision Machinery and Precision Instrumentation, USTC.</br>-->
<!-- Haoyao Chen, Control Science and Engineering, HIT.</br>-->
<!-- Xueqian Wang, Control Science and Engineering, Tsinghua University.</br>-->
<!-- Zhuozhu Jian, Control Science and Engineering, Tsinghua University.<br> –>-->
<!-- </tr>-->
<!-- </tbody></table>-->
<br>
<br>
<br>
<hr class="hr-edge-weak">
<!-- ======= Credit Section ======= -->
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:0px">
<!-- <br> -->
<p style="text-align:left;font-size:14px;">
Modified version of template from <a style="font-size:14px ;" href="https://jonbarron.info/">here</a>. <a style="font-size:14px ;" href="https://anxingxiao.com/" >Thanks!</a>
<span style="float:right;">
Last updated: 23 Dec. 2024
</span>
</p>
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