EgoPush: Learning End-to-End Egocentric Multi-Object Rearrangement for Mobile Robots
In submission
Email: aby[dot]anboyuan[at]gmail[dot]com
I am Boyuan An, an undergraduate student in Robotics Engineering (Honors Program) at Zhejiang University, expected to graduate in 2027. Currently, I am a research intern at the NYU AI4CE Lab, working with Prof. Chen Feng. I am also fortunate to intern at ZJU FAST LAB led by Prof. Fei Gao.
My long-term research vision is to develop self-contained intelligence for robots to achieve high-level autonomy using onboard perception.
publications
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Learning Tractor-Trailer Robots navigation through First Order Model-based RLResearch under development at ZJU FAST Lab
projects
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In-Hand Cube Rotation via LeapHandLeapHand Reproduction:
Hardware: Completed the assembly and commissioning of the LeapHand dexterous hand hardware platform.
Software: Developed a in-hand cuboid manipulation policy via Reinforcement Learning on IsaacLab.
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Learning One-Foot Camel Spin on the TITA Wheel-Legged Biped RobotIntern at Direct Drive Tech
Learned a robust one-foot spin maneuver for a wheel-legged biped (TITA Robot of Direct Drive Tech) via Reinforcement Learning.
Built on Isaacgym for training and valuated through sim-to-sim transfer to Webots.
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Agile Drone Pursuit-Evasion via Self-Play Reinforcement LearningSpring at ZJU FAST LAB
We propose a Reinforcement Learning (RL) framework that conducts large-scale self-play to obtain high-quality interaction data, while iteratively optimizing the competing policies under the Policy-Space Response Oracle (PSRO) algorithm.