Jialiang Zhang | 张家梁

I am a third-year undergraduate student in the Turing Class at the School of EECS, Peking University. My research advisor at Peking University is Professor He Wang.

Currently, I am a visiting scholar at Stanford University through the UGVR program, where I am advised by Professor Leonidas J. Guibas.

I am interested in Embodied AI, Robotics, and 3D Computer Vision.

Email  /  Google Scholar  /  Github

We synthesized a large-scale dexterous grasping dataset in cluttered scenes and designed a generative framework to learn grasping in the real world.

@article{chen2023task,
title={Task-Oriented Dexterous Grasp Synthesis via Differentiable Grasp Wrench Boundary Estimator},
author={Chen, Jiayi and Chen, Yuxing and Zhang, Jialiang and Wang, He},
journal={arXiv preprint arXiv:2309.13586},
year={2023}
}

We propose a differentiable grasp wrench boundary estimator to synthesize task-oriented dexterous grasps.

@article{xu2023unidexgrasp,
title={UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy},
author={Xu, Yinzhen and Wan, Weikang and Zhang, Jialiang and Liu, Haoran and Shan, Zikang and Shen, Hao and Wang, Ruicheng and Geng, Haoran and Weng, Yijia and Chen, Jiayi and others},
journal={arXiv preprint arXiv:2303.00938},
year={2023}
}

We tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting.

@inproceedings{wang2023dexgraspnet,
title={Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation},
author={Wang, Ruicheng and Zhang, Jialiang and Chen, Jiayi and Xu, Yinzhen and Li, Puhao and Liu, Tengyu and Wang, He},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={11359--11366},
year={2023},
organization={IEEE}
}

We synthesized a large-scale robotic dexterous grasping dataset with our proposed optimization-based grasp synthesis method.