Jiyao Zhang

I am a first-year Ph.D. candidate in the Center on Frontiers of Computing Studies (CFCS) at the School of Computer Science, Peking University, advised by Prof. Hao Dong. I'm also a research intern at Beijing Academy of Artificial Intelligence (BAAI).

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News

  • [2024/02] 🎉 One paper gets accepted to ICRA 2024.
  • [2023/09] 🎉 Two paper gets accepted to NeurIPS 2023.
  • [2023/02] 🎉 One paper gets accepted to CVPR 2023.
  • [2022/07] 🎉 One paper gets accepted to ECCV 2022.
  • Research

    My research interests lie in 3D computer vision and robotics. Much of my research is about embodied perception and manipulation, with a focus on enabling robots to autonomously perceive, understand, and interact with the world.

    ( *: equal contribution, †: corresponding author )

    > >
    GenPose: Generative Category-level Object Pose Estimation via Diffusion Models
    Jiyao Zhang*, Mingdong Wu*, Hao Dong†
    Advances in Neural Information Processing Systems (NeurIPS) 2023
    Paper / Project Page / Bibtex / Code code

    We explore a pure generative approach to tackle the multi-hypothesis issue in 6D Category-level Object Pose Estimation. The key idea is to generate pose candidates using a score-based diffusion model and aggregate poses using an energy-based diffusion model. By aggregating the remaining candidates, we can obtain a robust and high-quality output pose.

    Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping
    Tianhao Wu*, Mingdong Wu*, Jiyao Zhang, Yunchong Gan, Hao Dong†
    Advances in Neural Information Processing Systems (NeurIPS) 2023
    Paper / Project Page / Bibtex / Code

    We propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects.

    SGTAPose: Robot Structure Prior Guided Temporal Attention for Camera-to-Robot Pose Estimation from Image Sequence
    Yang Tian*, Jiyao Zhang*, Zekai Yin*, Hao Dong†
    Conference on Computer Vision and Pattern Recognition (CVPR) 2023
    Paper / Project Page / Bibtex / Code

    We propose Structure Prior Guided Temporal Attention for online Camera-to-Robot Pose estimation (SGTAPose) from successive frames of an image sequence.

    Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects
    Qiyu Dai*, Jiyao Zhang*, Qiwei Li, Tianhao Wu, Hao Dong, Ziyuan Liu, Ping Tan, He Wang†
    European Conference on Computer Vision (ECCV) 2022
    Paper / Project Page / Bibtex / Code code

    We propose Domain Randomization Enhanced Depth Simulation (DREDS) approach to simulate an active stereo depth system using physically based rendering and demonstrate that the proposed DREDS bridges the sim-to-real domain gap.


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