个人主页

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

装配机器人

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

摘要

运动基元（Movement Primitives, MP）是一种有前景的方法，可以从人类示范中建模机器人运动。使用学习的参数和通常缩放到$\boldsymbol{[0,1]}$的相位变量，MP可以在相位从0过渡到1时生成轨迹。然而，在需要高精度和在线调整的装配任务中，典型的MP方法效果不佳，特别是当轨迹以有限的控制器增益执行，或者当任务受到某些障碍物阻碍时。因此，我们提出了相位识别运动基元（Phase-Recognizing Movement Primitive, PMP），它可以在线稳定地估计任务相位，在装配任务受到外部干扰时进行适当调整，并最终在使用低增益顺应控制器的情况下实现精确装配。具体来说，给定机器人状态，我们假设相位是一个具有高斯分布的随机变量。因此，可以计算相位速度，使我们能够确定任务是否受阻，并在任务卡住时重试。我们在仿真中测试了我们的方法用于插孔装配任务，并在真实UR5上测试了滑入槽装配任务。实验结果表明，PMP可以稳定地估计相位，从而对受阻的装配任务进行调整以完成任务。

实验

项目

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 👋

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

经历

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

基于BIM的机器人

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

概述

本研究在2D同步定位与地图构建(SLAM)中使用建筑信息模型(BIM)信息。在这个项目中，机器人使用BIM中的信息生成2D地图作为建筑物的先验知识。然后移动机器人使用这个全局地图进行初始定位和路径规划，可以是用于地图更新的覆盖路径，也可以是到目标位置的路径。此外，移动机器人可以根据后续探索更新这个先验地图。总的来说，这种方法的优势在于它可以帮助机器人在不需要先生成地图的情况下到达目标位置。相反，机器人可以基于先验知识到达期望位置，并在移动过程中更新地图。

本项目使用的SLAM方法基于Cartographer，并在Gazebo中通过添加随机障碍物进行仿真测试。所有工作均由本人独立完成。

摘要

建筑机器人除非事先通过SLAM构建地图（这是耗时的，且阻碍了建筑机器人制定全局任务计划），否则无法获得建筑物的全局信息。同时，建筑信息模型（BIM）是建筑信息的数字化和标准化。有了BIM，建筑场景中的建筑内部实际上是半未知的，而不是完全未知的。在本研究中，我们提出了一个将BIM转换为2D理想地图的流程。然后，我们将2D理想地图和SLAM结合用于机器人导航。通过使用这个理想的2D地图作为机器人的初始全局地图，机器人可以获得建筑物内部的全局信息，从而节省时间并提高效率。

流程

这个图展示了数据转换的流程。

数据转换流程

这个图展示了以obj形式的建筑物。

网格

这个图展示了以八叉树形式的建筑物。

八叉树

仿真

这个图展示了SLAM中的不同地图。

地图信息

如图所示，虽然我们的机器人对环境是全新的，但它通过全局代价地图（由分层代价地图结构从2D理想地图生成）获得了有关建筑物的全局信息。最大的框显示全局代价地图，第二大的框显示来自传感器的信息。最小的框显示局部代价地图。

正确的全局路径

此图显示，即使传感器在目标点周围没有任何信息，机器人也能生成到目标的正确路径。

正确的局部路径

此图显示，机器人可以根据局部代价地图改变其局部路径，以避免与障碍物发生碰撞。

到达任意目标

此图显示机器人可以到达建筑物特定楼层的任意目标点。

结论

在本文中，我们提出了一个将BIM转换为2D理想地图的流程，然后我们使用2D理想地图进行机器人导航，从而在建筑场景中节省了通过SLAM构建地图的时间。未来，我们将尝试使用BIM中更多的语义信息和生命周期信息来帮助机器人完成任务。

竞速机器人

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

概述

本项目旨在参加机器人竞速比赛。在比赛中，机器人需要尽可能快地完成赛道并击中终点目标，同时不能进入黑色区域。机器人要求使用人形机器人，配备由三个麦克纳姆轮组成的全向底盘，以及背包上的网络摄像头。所有程序都在背包中的树莓派4B上运行。

在这个项目中，我负责仿真、视觉和控制算法。我在V-REP模拟器中建立了仿真环境，测试了基于边缘检测的赛道检测方法，并使用基于视觉的PD控制来控制底盘。此外，由于机器人在起点处被随机放置方向，我们使用Keras和TensorFlow来解决分类问题并使机器人朝向正确方向。

仿真

我们首先在V-REP中建立仿真环境来测试我们的算法，我们使用V-REP的远程Python API从虚拟相机获取仿真数据，并根据我们的算法控制机器人的电机。我们测试了真实网络摄像头的视场角，以确保虚拟相机具有与真实相机类似的参数。

真实机器人

网络摄像头的原始位置太高，无法获得机器人前方地面的足够信息。因此，我们使用3D打印机制作了一个可调角度的相机支架，使其能够向下倾斜以俯视地面。为了增加轮子的摩擦力，我们尝试了新材料来制作轮胎，并在真实机器人上进行了一些测试。

测试视频

这个视频展示了比赛的整个过程。正如我们所见，机器人以不同的方向开始，然后根据网络摄像头的图像将指令分类为左转、右转和前进三类。对于左转或右转指令，机器人以特定角度左转或右转。对于前进指令，机器人开始使用基于边缘检测的PD控制来控制底盘。即使面对伪装图案，视觉算法也能保持稳健。最后，机器人使用基于圆弧检测的方法来估计与目标的距离，并在调整方向的同时减速。

喷涂机器人

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

概述

本项目是我硕士论文的主题。

在建筑喷涂作业中，喷涂机器人相比人工劳动具有显著优势。然而，为了满足高精度要求，喷涂机器人必须准确感知大型物体。此外，喷涂过程的需求要求喷涂机器人在其墙面覆盖喷涂的路径规划中纳入新的程序约束。本研究主要需要解决以下两个问题：

考虑机器人可达性约束的全覆盖喷涂轨迹规划。
可跨系统、平台的易部署、验证的算法。与具体硬件结合的整体喷涂软件。

机器人模型

感知

最初，我们使用基于区域生长的方法进行感知，将墙面投影到2D平面上。这种方法有效地将问题从3D覆盖路径规划转变为2D覆盖路径规划。然而，我们发现这种方法不足以处理涉及角落和曲面的任务。因此，我们现在正在探索基于切片的方法来解决这些挑战。

基于切片的喷涂点生成

基于切片的喷涂点生成方法通过使用一系列平行的平面对待喷涂区域进行切割，这种方法在工件喷涂中常常使用。然而在建筑喷涂中，机器人喷涂范围由已知的面片（Mesh）文件变成了感知得到的点云（Point Cloud）文件，因此需要需要对喷涂点的生成方式进行改进。

基于喷涂可达地图的轨迹优化

本文提出了一种紧凑可达图和喷涂可达图，并基于这两图将喷涂轨迹生成问题构造为一个优化问题。

紧凑可达地图

喷涂可达地图

优化

结合喷涂可达图的约束，可以将轨迹生成构造为一个凸优化问题进行求解

项目状态

此项目仍在进行中…

实验

乳胶漆挂漆测试

宽范围

运输机器人

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

概述

本项目旨在为物料搬运比赛制作一个轻量级运输机器人。机器人需要从几个特定位置抓取物料并将它们运送到其他位置。物料放置越准确，处理的物料越多，用时越短，得分就越高。在这个项目中，我们设计了一个带有轻量级机械臂的移动机器人，并使用了两个2D相机，分别安装在机械臂末端执行器和机器人底盘侧面。我们使用视觉伺服策略来调整机械臂，以保证放置的准确性。

在这个项目中，我负责底盘、机械臂和相机的控制。我使用基于RANSAC的方法来检测目标并对放置动作进行闭环控制。我还参与了机器人的设计，包括布局、机械臂类型的选择和搬运策略。

任务描述

红、绿、蓝三种颜色的物料被放置在货架的不同位置。此外，货架上有与物料数量相同的二维码，每个二维码代表物料的目标位置。有了这些信息，机器人应该首先将这些物料抓取到机器人上，然后将它们运送到指定位置。

另外，地面上的黑色网格允许我们使用灰度传感器进行机器人定位。

对于放置，我们使用基于RANSAC的方法，根据安装在末端执行器上的相机来检测目标位置的中心。

我们机器人的最终版本

这个视频展示了比赛的整个过程，正如我们所见，机器人使用视觉伺服策略来调整末端执行器并实现精确放置。

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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

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