Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Hello there, I'm Yan (炎)
About me
Posts
projects
Learning Optimal Manipulation Skills in a Human-like Way for Contact-rich Tasks
This project targets on learning optimal variable impedance manipulation skills with human demonstrations in a residual reinforcement learning manner for contact-rich tasks, e.g. peg insertion. I managed to deploy it on a 7-axis Franka Emika robot arm by integrating deep reinforcement learning and imitation learning with Python, C++, and ROS.
Robot Learning to Move Like Animals: Sim2Real Transfer of DRL for Quadrupled Robots Learning Locomotion Gaits
This project aims to reproduce the results presented in the paper titled Learning Agile Robotic Locomotion Skills by Imitating Animals on our self-designed multi-modal quadruped robot. I was involved in this project when I was doing my research internship at Tencent Robotics X Lab and my work mainly focus on the Sim2Real part. During my internship, I managed to transfer gaits learned in simulation to the real quadruped robot with a 100% success rate.
Learning and Generalizing Variable Impedance Manipulation Skills from Human Demonstrations
This project aims to enable robot arms learn variable impedance manipulation skills from multiple demonstrations for pouring tasks in human-centric environments.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.