Personal Website

Example Talk

Sat, 01 Jun 2030 13:00:00 +0000

Click on the Slides button above to view the built-in slides feature.

Slides can be added in a few ways:

Create slides using Hugo Blox Builder’s Slides feature and link using slides parameter in the front matter of the talk file
Upload an existing slide deck to static/ and link using url_slides parameter in the front matter of the talk file
Embed your slides (e.g. Google Slides) or presentation video on this page using shortcodes.

Further event details, including page elements such as image galleries, can be added to the body of this page.

MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation

Mon, 09 Feb 2026 00:00:00 +0000

Released on arXiv:

MOSAIC is an open-source, full-stack system for humanoid motion tracking and teleoperation:

Learns a general motion tracker via RL on multi-source motion bank
Performs rapid residual adaptation to bridge sim-to-real gap
Supports multiple interfaces for teleoperation
Validated with real-robot experiments demonstrating robust offline motion replay and online long-horizon teleoperation

Authors: Bo-Sheng Huang*, Yibo Peng*, Xukun Li* (Equal contribution). Corresponding authors: Zhenshan Bing†, Xinlong Wang†.

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

Thu, 05 Feb 2026 00:00:00 +0000

Released on arXiv:

DECO is a decoupled multimodal diffusion transformer for bimanual dexterous manipulation that:

Disentangles multimodal inputs (vision, proprioception, tactile) through specialized conditioning pathways
Features a lightweight tactile adapter for parameter-efficient injection of tactile signals
Achieves 72.25% success rate with 21% improvement over baseline
Introduces DECO-50 dataset with 50 hours of data and over 5M frames

Assembly Robot

Sun, 01 Sep 2024 00:00:00 +0000

Abstrct

Movement Primitives (MP) are promising methods for modeling robot motion from human demonstrations. Using learned parameters and a phase variable typically scaled to $\boldsymbol{[0,1]}$, MP can generate a trajectory as the phase transitions from 0 to 1. However, in assembly tasks that require high precision and online adjustments, typical MP methods do not work well, particularly when the trajectory is executed with limited controller gains, or when the task is hindered by some obstacles. Therefore, we propose Phase-Recognizing Movement Primitive (PMP), which can make a stable estimation of the task phase online, make suitable adjustments when the assembly task is hindered by external disturbances, and finally achieve precise assembly while using a low gain compliance controller. Specifically, given the robot state, we assume the phase is a random variable with a Gaussian distribution. Consequently, the phase velocity can be computed, enabling us to determine whether the task is hindered and to retry if the task is stuck. We test our method on a Peg-In-Hole assembly task in simulation and a Slide-In-The-Groove assembly task on real UR5. The experimental results show that PMP can make stable estimations of the phase and thus make adjustments to complete the hindered assembly tasks.

Experiment

Projects

Sun, 19 May 2024 00:00:00 +0000

🎉 Easily create your own simple yet highly customizable blog

Fri, 27 Oct 2023 00:00:00 +0000

Welcome 👋

Table of Contents

Overview

The Hugo Blox website builder for Hugo, along with its starter templates, is designed for professional creators, educators, and teams/organizations - although it can be used to create any kind of site
The template can be modified and customised to suit your needs. It’s a good platform for anyone looking to take control of their data and online identity whilst having the convenience to start off with a no-code solution (write in Markdown and customize with YAML parameters) and having flexibility to later add even deeper personalization with HTML and CSS
You can work with all your favourite tools and apps with hundreds of plugins and integrations to speed up your workflows, interact with your readers, and much more

Get Started

👉 Create a new site
📚 Personalize your site
💬 Chat with the Hugo Blox community or Hugo community
🐦 Twitter: @GetResearchDev @GeorgeCushen #MadeWithHugoBlox
💡 Request a feature or report a bug for Hugo Blox
⬆️ Updating Hugo Blox? View the Update Guide and Release Notes

Crowd-funded open-source software

To help us develop this template and software sustainably under the MIT license, we ask all individuals and businesses that use it to help support its ongoing maintenance and development via sponsorship.

As a token of appreciation for sponsoring, you can unlock these awesome rewards and extra features 🦄✨

Ecosystem

Bibtex To Markdown: Automatically import publications from BibTeX

Inspiration

Learn what other creators are building with this template.

Features

Page builder - Create anything with no-code blocks and elements
Edit any type of content - Blog posts, publications, talks, slides, projects, and more!
Create content in Markdown, Jupyter, or RStudio
Plugin System - Fully customizable color and font themes
Display Code and Math - Code syntax highlighting and LaTeX math supported
Integrations - Google Analytics, Disqus commenting, Maps, Contact Forms, and more!
Beautiful Site - Simple and refreshing one-page design
Industry-Leading SEO - Help get your website found on search engines and social media
Media Galleries - Display your images and videos with captions in a customizable gallery
Mobile Friendly - Look amazing on every screen with a mobile friendly version of your site
Multi-language - 35+ language packs including English, 中文, and Português
Multi-user - Each author gets their own profile page
Privacy Pack - Assists with GDPR
Stand Out - Bring your site to life with animation, parallax backgrounds, and scroll effects
One-Click Deployment - No servers. No databases. Only files.

Themes

Hugo Blox and its templates come with automatic day (light) and night (dark) mode built-in. Visitors can choose their preferred mode by clicking the sun/moon icon in the header.

Choose a stunning theme and font for your site. Themes are fully customizable.

License

Released under the MIT license.

🧠 Sharpen your thinking with a second brain

Thu, 26 Oct 2023 00:00:00 +0000

Create a personal knowledge base and share your knowledge with your peers.

Hugo Blox web framework empowers you with one of the most flexible note-taking capabilities out there.

Create a powerful knowledge base that works on top of a local folder of plain text Markdown files.

Use it as your second brain, either publicly sharing your knowledge with your peers via your website, or via a private GitHub repository and password-protected site just for yourself.

Mindmaps

Hugo Blox supports a Markdown extension for mindmaps.

With this open format, can even edit your mindmaps in other popular tools such as Obsidian.

Simply insert a Markdown code block labelled as markmap and optionally set the height of the mindmap as shown in the example below.

Mindmaps can be created by simply writing the items as a Markdown list within the markmap code block, indenting each item to create as many sub-levels as you need:


```markmap {height="200px"}
- Hugo Modules
- Hugo Blox
- blox-plugins-netlify
- blox-plugins-netlify-cms
- blox-plugins-reveal
```

renders as

- Hugo Modules
 - Hugo Blox
 - blox-plugins-netlify
 - blox-plugins-netlify-cms
 - blox-plugins-reveal

Anh here’s a more advanced mindmap with formatting, code blocks, and math:


```markmap
- Mindmaps
- Links
- [Hugo Blox Docs](https://docs.hugoblox.com/)
- [Discord Community](https://discord.gg/z8wNYzb)
- [GitHub](https://github.com/HugoBlox/hugo-blox-builder)
- Features
- Markdown formatting
- **inline** ~~text~~ *styles*
- multiline
text
- `inline code`
-
```js
console.log('hello');
console.log('code block');
```
- Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$
```

renders as

- Mindmaps
 - Links
 - [Hugo Blox Docs](https://docs.hugoblox.com/)
 - [Discord Community](https://discord.gg/z8wNYzb)
 - [GitHub](https://github.com/HugoBlox/hugo-blox-builder)
 - Features
 - Markdown formatting
 - **inline** ~~text~~ *styles*
 - multiline
 text
 - `inline code`
 -
 ```js
 console.log('hello');
 console.log('code block');
 ```
 - Math: $x = {-b \pm \sqrt{b^2-4ac} \over 2a}$

Highlighting

Highlight important text with mark:

<mark>Highlighted text</mark>

Callouts

Use callouts (aka asides, hints, or alerts) to draw attention to notes, tips, and warnings.

By wrapping a paragraph in {{% callout note %}} ... {{% /callout %}}, it will render as an aside.

{{% callout note %}}
A Markdown aside is useful for displaying notices, hints, or definitions to your readers.
{{% /callout %}}

renders as

A Markdown aside is useful for displaying notices, hints, or definitions to your readers.

Or use the warning callout type so your readers don’t miss critical details:

A Markdown aside is useful for displaying notices, hints, or definitions to your readers.

📈 Communicate your results effectively with the best data visualizations

Wed, 25 Oct 2023 00:00:00 +0000

Hugo Blox is designed to give technical content creators a seamless experience. You can focus on the content and Hugo Blox handles the rest.

Use popular tools such as Plotly, Mermaid, and data frames.

Charts

Hugo Blox supports the popular Plotly format for interactive data visualizations. With Plotly, you can design almost any kind of visualization you can imagine!

Save your Plotly JSON in your page folder, for example line-chart.json, and then add the {{< chart data="line-chart" >}} shortcode where you would like the chart to appear.

Demo:

You might also find the Plotly JSON Editor useful.

Diagrams

Hugo Blox supports the Mermaid Markdown extension for diagrams.

An example flowchart:

```mermaid
graph TD
A[Hard] -->|Text| B(Round)
B --> C{Decision}
C -->|One| D[Result 1]
C -->|Two| E[Result 2]
```

renders as

graph TD
A[Hard] -->|Text| B(Round)
B --> C{Decision}
C -->|One| D[Result 1]
C -->|Two| E[Result 2]

An example sequence diagram:

```mermaid
sequenceDiagram
Alice->>John: Hello John, how are you?
loop Healthcheck
John->>John: Fight against hypochondria
end
Note right of John: Rational thoughts!
John-->>Alice: Great!
John->>Bob: How about you?
Bob-->>John: Jolly good!
```

renders as

sequenceDiagram
Alice->>John: Hello John, how are you?
loop Healthcheck
 John->>John: Fight against hypochondria
end
Note right of John: Rational thoughts!
John-->>Alice: Great!
John->>Bob: How about you?
Bob-->>John: Jolly good!

An example class diagram:

```mermaid
classDiagram
Class01 <|-- AveryLongClass : Cool
Class03 *-- Class04
Class05 o-- Class06
Class07 .. Class08
Class09 --> C2 : Where am i?
Class09 --* C3
Class09 --|> Class07
Class07 : equals()
Class07 : Object[] elementData
Class01 : size()
Class01 : int chimp
Class01 : int gorilla
Class08 <--> C2: Cool label
```

renders as

classDiagram
Class01 <|-- AveryLongClass : Cool
Class03 *-- Class04
Class05 o-- Class06
Class07 .. Class08
Class09 --> C2 : Where am i?
Class09 --* C3
Class09 --|> Class07
Class07 : equals()
Class07 : Object[] elementData
Class01 : size()
Class01 : int chimp
Class01 : int gorilla
Class08 <--> C2: Cool label

An example state diagram:

```mermaid
stateDiagram
[*] --> Still
Still --> [*]
Still --> Moving
Moving --> Still
Moving --> Crash
Crash --> [*]
```

renders as

stateDiagram
[*] --> Still
Still --> [*]
Still --> Moving
Moving --> Still
Moving --> Crash
Crash --> [*]

Data Frames

Save your spreadsheet as a CSV file in your page’s folder and then render it by adding the Table shortcode to your page:

{{< table path="results.csv" header="true" caption="Table 1: My results" >}}

renders as

Table 1: My results
customer_id	score
1	0
2	0.5
3	1

👩🏼‍🏫 Teach academic courses

Tue, 24 Oct 2023 00:00:00 +0000

Hugo Blox Builder is designed to give technical content creators a seamless experience. You can focus on the content and the Hugo Blox Builder which this template is built upon handles the rest.

Embed videos, podcasts, code, LaTeX math, and even test students!

On this page, you’ll find some examples of the types of technical content that can be rendered with Hugo Blox.

Video

Teach your course by sharing videos with your students. Choose from one of the following approaches:

Youtube:

{{< youtube D2vj0WcvH5c >}}

Bilibili:

{{< bilibili BV1WV4y1r7DF >}}

Video file

Videos may be added to a page by either placing them in your assets/media/ media library or in your page’s folder, and then embedding them with the video shortcode:

{{< video src="my_video.mp4" controls="yes" >}}

Podcast

You can add a podcast or music to a page by placing the MP3 file in the page’s folder or the media library folder and then embedding the audio on your page with the audio shortcode:

{{< audio src="ambient-piano.mp3" >}}

Try it out:

Test students

Provide a simple yet fun self-assessment by revealing the solutions to challenges with the spoiler shortcode:

{{< spoiler text="👉 Click to view the solution" >}}
You found me!
{{< /spoiler >}}

renders as

👉 Click to view the solution

You found me 🎉

Math

Hugo Blox Builder supports a Markdown extension for $\LaTeX$ math. Enable math by setting the math: true option in your page’s front matter, or enable math for your entire site by toggling math in your config/_default/params.yaml file:

features:
 math:
 enable: true

To render inline or block math, wrap your LaTeX math with $...$ or $$...$$, respectively.

Example math block:

$$
\gamma_{n} = \frac{ \left | \left (\mathbf x_{n} - \mathbf x_{n-1} \right )^T \left [\nabla F (\mathbf x_{n}) - \nabla F (\mathbf x_{n-1}) \right ] \right |}{\left \|\nabla F(\mathbf{x}_{n}) - \nabla F(\mathbf{x}_{n-1}) \right \|^2}
$$

renders as

$$\gamma_{n} = \frac{ \left | \left (\mathbf x_{n} - \mathbf x_{n-1} \right )^T \left [\nabla F (\mathbf x_{n}) - \nabla F (\mathbf x_{n-1}) \right ] \right |}{\left \|\nabla F(\mathbf{x}_{n}) - \nabla F(\mathbf{x}_{n-1}) \right \|^2}$$

Example inline math $\nabla F(\mathbf{x}_{n})$ renders as $\nabla F(\mathbf{x}_{n})$.

Example multi-line math using the math linebreak (\\):

$$f(k;p_{0}^{*}) = \begin{cases}p_{0}^{*} & \text{if }k=1, \\
1-p_{0}^{*} & \text{if }k=0.\end{cases}$$

renders as

$$ f(k;p_{0}^{*}) = \begin{cases}p_{0}^{*} & \text{if }k=1, \\ 1-p_{0}^{*} & \text{if }k=0.\end{cases} $$

Code

Hugo Blox Builder utilises Hugo’s Markdown extension for highlighting code syntax. The code theme can be selected in the config/_default/params.yaml file.

```python
import pandas as pd
data = pd.read_csv("data.csv")
data.head()
```

renders as

import pandas as pd
data = pd.read_csv("data.csv")
data.head()

Inline Images

{{< icon name="python" >}} Python

renders as

Python

Experience

Tue, 24 Oct 2023 00:00:00 +0000

✅ Manage your projects

Mon, 23 Oct 2023 00:00:00 +0000

Easily manage your projects - create ideation mind maps, Gantt charts, todo lists, and more!

Ideation

Hugo Blox supports a Markdown extension for mindmaps.

Simply insert a Markdown code block labelled as markmap and optionally set the height of the mindmap as shown in the example below.

Mindmaps can be created by simply writing the items as a Markdown list within the markmap code block, indenting each item to create as many sub-levels as you need:


```markmap {height="200px"}
- Hugo Modules
- Hugo Blox
- blox-plugins-netlify
- blox-plugins-netlify-cms
- blox-plugins-reveal
```

renders as

- Hugo Modules
- Hugo Blox
- blox-plugins-netlify
- blox-plugins-netlify-cms
- blox-plugins-reveal

Diagrams

Hugo Blox supports the Mermaid Markdown extension for diagrams.

An example Gantt diagram:

```mermaid
gantt
section Section
Completed :done, des1, 2014-01-06,2014-01-08
Active :active, des2, 2014-01-07, 3d
Parallel 1 : des3, after des1, 1d
Parallel 2 : des4, after des1, 1d
Parallel 3 : des5, after des3, 1d
Parallel 4 : des6, after des4, 1d
```

renders as

gantt section Section Completed :done, des1, 2014-01-06,2014-01-08 Active :active, des2, 2014-01-07, 3d Parallel 1 : des3, after des1, 1d Parallel 2 : des4, after des1, 1d Parallel 3 : des5, after des3, 1d Parallel 4 : des6, after des4, 1d

Todo lists

You can even write your todo lists in Markdown too:

- [x] Write math example
 - [x] Write diagram example
- [ ] Do something else

renders as

Write math example
- Write diagram example
Do something else

BIM-based Robot

Fri, 01 Sep 2023 00:00:00 +0000

Overview

This research uses Building Information Modeling(BIM) information in 2D Simultaneous Localization and Mapping(SLAM). In this project, the robot uses the information from BIM to generate a 2D map as prior knowledge of the building. Then the mobile robot uses this global map for initial localization and path planning, which can be a coverage path for map updating or a path to a target position. Besides, the mobile robot can update this prior map based on its following exploration. In conclusion, the advantage of this method is that it can help the robot reach its desired target without generating a map first. Instead, the robot can reach the desired position based on prior knowledge and update the map while moving.

The SLAM approach used in this project is based on Cartographer, and the method is tested in simulation in Gazebo with some random obstacles. All the work was done by myself.

Abstract

Construction robots don’t have the global information of the building unless they are allowed to build a map by SLAM in advance, which is time-consuming and prevents construction robots from making global plan for the task. At the same time, Building Information Modeling (BIM) is a digitalization and standardization of the building information. With the existing of BIM, the building interior in construction scenes is actually semi-unknown instead of totally unknown. In this research, we proposed a pipeline to transform the BIM to a 2D ideal map. Then, we combined the 2D ideal map and SLAM together for robot navigation. By using this ideal 2D map as the initial global map of the robot, the robot can obtain global information about the interior of the building, thus saving the time and inhance the efficiency.

Piepline

This figure shows the pipline of data transformation.

Data Transform Pipeline

This figure shows the building in the form of obj.

Mesh

This figure shows the building in the form of Octree.

Octree

Simulation

This figure shows different map in SLAM.

Map Information

As shown in this figure, although our robot was new in the environment, it had the global information about the building according to the global costmap, which is generated from the 2D ideal map by the layered costmap structure. The largest box shows the global costmap, and the second large box shows the information from the sensor. And the smallest box shows the local costmap.

Right Global Path

This figure shows that the robot can generate a right path to the target although the sensor doesn’t have any information around the target point.

Right Local Path

This figureshows that the robot can change its local path according to the local cost map, to avoid the crush between itself and the obstacles.

Arrive Any Target

This figure shows that the robot can arrive any target point on this specific floor in the building.

Conclusion

In this paper, we proposed a pipeline to transform the BIM to a 2D ideal map, and then we used the 2D ideal to navigate the robot thus saving the time for building a map by SLAM in construction scenes. In the future, we will try to use more semantic information and lifecycle information in BIM to help robot finish its task.

Painting Robot

Fri, 01 Sep 2023 00:00:00 +0000

Overview

This project is the topic of my Master’s thesis.

In construction spraying operations, spray robots offer significant advantages over manual labor. However, to meet the high precision required, spray robots must accurately perceive large-scale objects. Additionally, the demands of the spraying process require that spray robots incorporate new procedural constraints into their path planning for wall coverage painting. This research mainly addresses the following two issues:

Full-coverage spray trajectory planning considering robot reachability constraints.
Easy-to-deploy and verifiable algorithms across systems and platforms. Integrated spraying software combined with specific hardware.

Robot Model

Perception

Initially, we used a region-growing based method for perception, projecting the wall surface onto a 2D plane. This approach effectively transitioned the problem from 3D coverage path planning to 2D coverage path planning.

However, we discovered that this method was inadequate for handling tasks involving corners and curved surfaces. Therefore, we are now exploring a slicing-based method to address these challenges.

Slicing-Based Painting Point Generation

The slicing-based painting point generation method uses a series of parallel planes to slice the area to be painted. This approach is commonly used in workpiece spraying. However, in construction spraying, the robot’s spraying range changes from known mesh files to perceived point cloud files, so the painting point generation method needs to be improved.

Painting Reachability Map Based Trajectory Optimization

This paper proposes a Compact Reach Map and a Painting Reach Map, and formulates the spray trajectory generation problem as an optimization problem based on these two maps.

Compact Reach Map

Painting Reach Map

Optimization

Combining the constraints of the Painting Reach Map, the trajectory generation can be formulated as a convex optimization problem for solution.

Project Status

This project is still in progress…

Experiments

Latex Paint Hanging Test

Wide Range

Racing Robot

Fri, 01 Sep 2023 00:00:00 +0000

Overview

This project aims to participate in a robot racing competition. In the competition, the robot is asked to finish the track and hit the target at the destination without getting into the black area as fast as possible. Robots are requested to use a humanoid robot with an omnidirectional chassis comprising three Mecanum wheels and a webcam on its backpack. All programs were running on a Raspberry Pi 4B in the backpack.

In this project, I was responsible for the simulation, vision, and control algorithm. I built a simulation environment in the V-REP simulator, tested an edge detection-based method for track detection, and used vision-based PD control for the chassis. Besides, we use Keras and TensorFlow to solve a classified problem and rotate the robot in the right direction since the robot is placed in a random direction at the starting point.

Simulation

We first built a simulation environment in V-REP to test our algorithm, we used a remote Python API for V-REP to get simulation data from the virtual camera and control the robot’s motors according to our algorithm. The field of view of the real webcam is tested to guarantee that the virtual camera has similar parameters to the real one.

Real Robot

The original position of the webcam is too high to get enough information on the ground in front of the robot. So we used a 3D printer to create an adjustable-angle camera mount, allowing it to tilt downwards to overlook the ground. To increase the friction of the wheels, we tried a new material for molding the tire and did some tests on the real robot.

Video of test

This video shows the whole process of the competition. As we can see, the robot starts with different orientations, then it classifies the command into three classes, namely left, right, and forward, according to the picture from the webcam. For the left or right command, the robot turns left or right with a specific angle. For the forward command, the robot starts to control its chassis with an edge detection-based PD control. The visual algorithm can be robust even when faced with camouflage plots. Finally, the robot uses an arc detection-based method to estimate the distance to the target and decelerate while adjusting its orientation.

Transport Robot

Fri, 01 Sep 2023 00:00:00 +0000

Overview

This project aims to make a lightweight transport robot for a material-carrying competition. Robots are asked to catch materials from several specific positions and carry them to some other positions. The more accurately the materials are placed, and the more materials are handled, the shorter the time used, resulting in a higher score. In this project, a mobile robot with a lightweight arm is designed, and two 2D cameras are used, which are mounted on the end effector of the arm and the side of the robot chassis, respectively. We use a visual serving strategy to adjust our arm to guarantee the accuracy of placing.

In this project, I was responsible for the control of the chassis, arm, and camera. I use a RANSAC-based method to detect the target and do a close-loop control for placing action. I also participated in the design of the robot, including the layout, the type of arm selected, and the carrying strategy.

Description of the Task

Several materials in three colors—red, green, and blue—are arranged in different positions on the shelf. Besides, there are the same number of QR codes on the shelf as the number of materials, each QR code represents the target position of the material. With all this information, the robot should first grasp these materials onto the robot, and carry them to the desired position.

Besides, black grids on the ground allow us to use grayscale sensors for the robot’s localization.

For the placement, we use a RANSAC-based method to detect the center of the target position according to the camera mounted on the end effector.

Final Version of Our Robot

This video shows the whole process of the competition, as we can see, the robot uses a visual serving strategy to adjust the end effector and achieve precise placement.

Group and Team

Team

Group

Personal Website

Example Talk

MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

Assembly Robot

Abstrct

Experiment

Projects

🎉 Easily create your own simple yet highly customizable blog

Overview

Get Started

Crowd-funded open-source software

❤️ Click here to become a sponsor and help support Hugo Blox’s future ❤️

Ecosystem

Inspiration

Features

Themes

License

🧠 Sharpen your thinking with a second brain

Mindmaps

Highlighting

Callouts

Did you find this page helpful? Consider sharing it 🙌

📈 Communicate your results effectively with the best data visualizations

Charts

Diagrams

Data Frames

Did you find this page helpful? Consider sharing it 🙌

👩🏼‍🏫 Teach academic courses

Video

Podcast

Test students

Math

Code

Inline Images

Did you find this page helpful? Consider sharing it 🙌

Experience

✅ Manage your projects

Ideation

Diagrams

Todo lists

Did you find this page helpful? Consider sharing it 🙌

BIM-based Robot

Overview

Abstract

Piepline

Simulation

Conclusion

Painting Robot

Overview

Robot Model

Perception

Slicing-Based Painting Point Generation

Painting Reachability Map Based Trajectory Optimization

Compact Reach Map

Painting Reach Map

Optimization

Project Status

Experiments

Racing Robot

Overview

Simulation

Real Robot

Video of test

Transport Robot

Overview

Description of the Task

Final Version of Our Robot

Group and Team