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Danshi Li I am a research engineer at Galbot, Led by Prof. He Wang and Dr. Zhizheng Zhang. I obtained Master's degree from New York University and Bachelor's at CUHK. Previously I interned at GalBot and the EPIC Lab at Peking University, advised by Prof. He Wang |
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ResearchI am interested in learning generalizable, dexterous interactions between robot and the real world. Up to now, my works have been concentrated on the methodology of training in simulation and transferring to real world. Recently I take great interest in the theory of geometric farics and its applications in RL, e.g. in dexterous hand manipulation and dexterous grasping . Looking for interested partners to work together! |
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DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Jialiang Zhang*, Haoran Liu*, Danshi Li*, Xinqiang Yu*, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang CoRL 2024 We build a large-scale dataset of 429M dexterous grasping poses in 7500 cluttered scenes with benchmark simulation pipeline. Based on the abundance of data, we learn a generative dexterous grasp prediction model that efficiently leverage local geometric features. Our model achieves 90.7% success rate, and show strong robustness under downscaling of training dataset. |
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STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines
Yuxuan Kuang*, Qin Han*, Danshi Li, Qiyu Dai, Lian Ding, Dong Sun, Hanlin Zhao, He Wang ICRA 2024 arXiv a framework for 6-DoF object suction grasp detection on production lines with generalizable NeRF reconstruction, with a focus on but not limited to transparent objects. |
