News
[Apr. 2024] 🎉 Two paper about 3D vision are acceptted by IEEE Transactions on Intelligent Vehicles..
[Oct. 2023] 🎉 One paper about robot compliance control is acceptted by ROBIO 2023.
[Oct. 2023] 🎉 One paper about 3D object detection is acceptted by Image and Vision Computing.
[Aug. 2023] 🎉 I join JC STEM Lab of ML & CV at PolyU as a PhD student.
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Research
My current research interests lie in the intersection of 3D Vision and Visual Representation for Embodied AI,
with particular interests in 3D scene understanding, sample-efficient and generalizable manipulation policy learning. My research objective
is to bulid an embodied agent which has the ability to efficiently perceive and interact with complex real-world environment.
Previously, I have worked on robot Compliance control and Nonprehensile manipulation.
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A Survey of Embodied Learning for Object-Centric Robotic Manipulation
Ying Zheng*, Lei Yao*, Yuejiao Su, Yi Zhang, Yi Wang, Sicheng Zhao, Yiyi Zhang, Lap-Pui Chau
arxiv / code
arXiv preprint, 2024
We provide a comprehensive survey of embodied perceptual learning, embodied policy learning, and embodied task-oriented learning
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SGIFormer: Semantic-guided and Geometric-enhanced Interleaving Transformer for 3D Instance Segmentation
Lei Yao, Yi Wang, Moyun Liu, Lap-Pui Chau
project page / arxiv / demo / code
arXiv preprint, 2024
We introduce SGIFormer for 3D instance segmentation, which combines semantic-guided query initialization and geometric-enhanced interleaving transformer.
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Towards Better Unguided Depth Completion via Cross-Modality Knowledge Distillation in the Frequency Domain
Moyun Liu, Bing Chen†,
Youping Chen, Jingming Xie,
Lei Yao†,
Yang Zhang, Qin Hu, Jiawei Du, Joey Tianyi Zhou
paper
IEEE Transactions on Intelligent Vehicles (TIV), 2024
We analyze the contribution of camera image for depth completion and propose a better unguided depth completion framework.
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Evaluation of Range Sensing-based Place Recognition for Long-term Urban Localization
Weixin Ma, Huan Yin,
Lei Yao,
Yuxiang Sun, Zhongqing Su
paper / code
IEEE Transactions on Intelligent Vehicles (TIV), 2024
We conduct a comprehensive evaluation study on several SOTA range sensing-based place recognition methods on the Borease dataset.
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A Data-Driven Phantom Zeros Prediction Algorithm for Traction Force Sensor in Kinesthetic Demonstration
Lei Yao, Bing Chen, Moyun Liu, Jingming Xie, Youping Chen, Lei He
paper
ROBIO, 2023 (Oral)
We model and predict phantom zeros based on a GA-optimized NN during kinesthetic demonstration.
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BF3D: Bi-directional fusion 3D detector with semantic sampling and geometric mapping
Yijie Zhu, Jingming Xie, Moyun Liu, Lei Yao, Youping Chen
paper / code
Image and Vision Computing, 2023
We propose an end-to-end detector termed BF3Dintegrating with semantic sampling and geometric point-image mapping.
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An Integrated Compensation Method for the Force Disturbance of a Six-Axis Force Sensor in Complex Manufacturing Scenarios
Lei Yao, Qingguang Gao, Dailin Zhang, Wanpeng Zhang, Youping Chen
paper
Sensor, 2021
We propose an integrated compensation method to eliminate the disturbances of zero drift, system error, and gravity of robot end-effector.
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Selected Awards and Honors
2023: Hong Kong PolyU Presidental PhD Fellowship (PPPFS)
2023 & 2020: Outstanding Graduate of HUST
2021: National Scholarship (2%, ¥20000)
2021: Merit Graduate Student of HUST
2021 & 2020: First-class Graduate School Fellowship (Â¥10000)
2019: GoerTek Scholarship (Sponsored by GoerTek Co., Ltd. ¥8000)
2019: National Encouragement Scholarship
2019 & 2017: Outstanding Student Leadership Award of HUST
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Last updated: July. 18 2023
© Copyright 2023 Lei Yao
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