|
Hao Jiang | 姜昊 I am a fourth-year undergraduate student at University of Southern California where I'm working with Prof. Daniel Seita. I’m double majoring in Computer Science (CS) and Applied and Computational Mathematics (AMCM). I'm fortunate to continue as a PhD student here at USC! I'm broadly interested in robot learning and manipulation. Currently, my focus is on dexterous grasping & manipulation. Email / Google Scholar / Github / LinkedIn |
|
Research(* indicates equal contribution, † indicates equal advising) |
|
Learning to Singulate Objects in Packed
Environments using a Dexterous Hand
Hao Jiang, Yuhai Wang*, Hanyang Zhou*, Daniel Seita International Symposium of Robotics Research (ISRR), 2024 project page / arXiv / code / presentation / blog This paper presents the Singulating Objects in Packed Environments (SOPE) framework, which utilizes a novel displacement-based state representation and a multi-phase RL approach to enable effective singulation of target objects in cluttered environments using a 16-DOF Allegro Hand. The proposed method demonstrates high success rates in both simulation and real-world experiments, outperforming alternative techniques. |
Award
CRA Outstanding Researcher
: Honorable Mention 2025
|
Service
Workshop reviewer
: Agile Robotics
Workshop
@ICRA 2024
|
|
Inspired by the template here. |