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<!DOCTYPE HTML>
<html lang="en" xmlns="http://www.w3.org/1999/html">
<head>
<meta name="google-site-verification" content="6pwUCwUH0a_mpbKGS6kmjnJExYvEpSys39AQgncnH_A" />
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Jiangran Lyu</title>
<meta name="author" content="Jiangran Lyu">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" type="text/css" href="css/stylesheet.css">
</head>
<body>
<table style="width: 100%; max-width: 920px; border: 0px; border-spacing: 0px; border-collapse: separate; margin-right: auto; margin-left: auto; ">
<tbody>
<tr style="padding: 0px">
<td style="padding: 0px">
<table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr style="padding:0px">
<td style="padding:2.5%;width:63%;vertical-align:middle">
<p style="text-align: center; font-family: serif, 'Lato', Verdana, Helvetica, sans-serif; font-size: 30px; line-height: 0.5; margin-bottom: 45px">
<name>Jiangran Lyu | 吕江燃</name>
</p>
<p>
I am a Ph.D. student at <a href="https://cs.pku.edu.cn/">School of Computer Science</a>, <a
href="https://www.pku.edu.cn/">Peking University</a>, where I am honored to be advised by <a href="https://cfcs.pku.edu.cn/people/faculty/yizhouwang/index.htm">Prof. Yizhou Wang</a>
and co-advised by <a href="https://hughw19.github.io/">Prof. He Wang</a>.
</p>
<p>
My research interests span Robotics, 3D Vision and Machine Learning.
My research objective is to endow embodied agents working in complex real-world scenes with generalizable manipulation, navigation and control capabilities.
</p>
</p>
<p style="text-align:center">
<a href="mailto:[email protected]">Email</a>  / 
<a href="https://github.com/jiangranlv">Github</a>
</p>
</td>
<td style="padding:2.5%;width:30%;max-width:30%">
<a href="images/portrait3.jpg"><img style="width:100%;max-width:100%" alt="profile photo" src="images/portrait3.jpg" class="hoverZoomLink"></a>
</td>
</tr>
</tbody></table>
<!-- <table style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;"><tbody>
<tr>
<td style="padding:20px;width:100%;vertical-align:middle">
<heading>Research</heading>
<p>
My research interests lie in 3D computer vision and Embodied AI, especially rotation representation and fabric manipulation.
</p>
</td>
</tr>
</tbody></table> -->
<table width="100%" align="center" border="0" cellspacing="0" cellpadding="20">
<tbody>
<tr>
<td style="padding-bottom: 5px; padding-top: 20px">
<heading>Publications</heading>
</td>
</tr>
<tr>
<td style="padding-bottom: 10px; padding-top: 5px; font-size: 16px">
*: joint first author; † corresponding author(s)
</td>
</tr>
</tbody>
</table>
<table style="width: 100%; border: 0px; border-spacing: 0px; border-collapse: separate; margin-right: auto; margin-left: auto; ">
<tbody>
<tr>
<td style="padding: 20px; padding-bottom: 30px; width: 28%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src="images/2024_arxiv_robohanger.gif" alt="">
</td>
<td style="padding: 20px; padding-bottom: 30px; width: 72%; vertical-align: middle">
<papertitle>RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments</papertitle>
<br>
Yuxing Chen, Songlin Wei, Bowen Xiao, <b>Jiangran Lyu</b>, Jiayi Chen, Feng Zhu,
<a href="https://hughw19.github.io/">He Wang</a><sup>†</sup>
<br>
<em>arXiv 2024</em>
<br>
<a href="https://chen01yx.github.io/Robohanger_Index">project page</a>
<p style="margin-bottom: 10px; margin-top: 10px">
This work explores robotic hanger insertion with a focus on diverse garments, leveraging a novel learning-based approach.
</p>
</td>
</tr>
<tr>
<td style="padding: 20px; padding-bottom: 30px; width: 28%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src="images/2024_corl_scissor.gif" alt="">
</td>
<!-- <td style="padding: 20px; padding-bottom: 30px; width: 28%; vertical-align: middle">
<video controls autoplay loop muted playsinline style="width: 100%; max-width: 100%" controls>
<source src="video/scissorbot_1.mp4" type="video/mp4">
</td> -->
<td style="padding: 20px; padding-bottom: 30px; width: 72%; vertical-align: middle">
<papertitle>ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting
via Simulation, Imitation, and Sim2Real</papertitle>
<br>
<b>Jiangran Lyu</b>,
<a href="">Yuxing Chen</a>,
<a href="https://people.iiis.tsinghua.edu.cn/~taodu/">Tao Du</a>,
Feng Zhu,
Huiquan Liu,
<a href="https://cfcs.pku.edu.cn/people/faculty/yizhouwang/index.htm">Yizhou Wang</a><sup>†</sup>,
<a href="https://hughw19.github.io/">He Wang</a><sup>†</sup>
<br>
<em>CoRL 2024</em>
<br>
<em>Data Generation for Robotics@RSS 2024</em>
<br>
<a href="https://arxiv.org/pdf/2409.13966">arXiv</a> /
<a href="https://pku-epic.github.io/ScissorBot/"> project page </a> /
<a href=""> code </a>
<!-- <a href="https://arxiv.org/abs/2203.15765">arXiv</a> / <a href="https://yd-yin.github.io/FisherMatch/"> project page </a> /-->
<!-- / <a href="https://youtu.be/GwQhnG6krCI"> video </a>-->
<p style="margin-bottom: 10px; margin-top: 10px">
We propose the first learning-based robotic paper cutting system.
Experimental results demonstrate that our method achives performance comparable to human operation
with a single hand under the same conditions.
</p>
</td>
</tr>
<tr>
<td style="padding: 8px; padding-bottom: 30px; width: 28%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src='images/laplace2.jpg'>
</td>
<td style="padding: 20px; padding-bottom: 30px; width: 72%; vertical-align: middle">
<papertitle>Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution</papertitle>
<br>
<a href="https://yd-yin.github.io/">Yingda Yin*</a>,
<b>Jiangran Lyu*</b>,
<a href="https://yangwangpku.github.io/">Yang Wang</a>,
Haoran Liu,
<a href="https://hughw19.github.io/">He Wang</a><sup>†</sup>,
<a href="https://cfcs.pku.edu.cn/baoquan/">Baoquan Chen</a><sup>†</sup>,
<br>
<em>Submitted to TPAMI <b>(Major Revision)</b>
<br>
<a href="https://arxiv.org/abs/2305.10465">arXiv</a> / <a href="https://pku-epic.github.io/RotationLaplace/"> project page </a> /
<a href="https://github.com/yd-yin/RotationLaplace"> code </a>
<!-- <a href="https://arxiv.org/abs/2203.15765">arXiv</a> / <a href="https://yd-yin.github.io/FisherMatch/"> project page </a> /-->
<!-- / <a href="https://youtu.be/GwQhnG6krCI"> video </a>-->
<p style="margin-bottom: 10px; margin-top: 10px">
We propose a novel Rotation Laplace distribution for probabilistic rotation estimation.
Rotation Laplace distribution is robust to the disturbance of outliers and enforces much gradient to the low-error region,
resulting in new state-of-the-art performance over both probabilistic and non-probabilistic baselines.
</p>
</td>
</tr>
<tr>
<td style="padding: 8px; padding-bottom: 30px; width: 28%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src='images/VCDN.png'>
</td>
<td style="padding: 20px; padding-bottom: 30px; width: 72%; vertical-align: middle">
<papertitle>Discovering Visual Co-occurrence for Fine-grained Image Retrieval</papertitle>
<br>
Shijie Wang,
<a href ="https://scholar.google.com/citations?user=pMnlgVMAAAAJ&hl=zh-CN"> Haojie Li</a><sup>†</sup>,
<b>Jiangran Lyu</b>,
<a href="https://www.qitian1987.com/">Qi Tian</a>,
<br>
<em>Submitted to TPAMI
<br>
<a href="">arXiv</a> / <a href=""> project page </a> /
<a href=""> code </a>
<!-- <a href="https://arxiv.org/abs/2203.15765">arXiv</a> / <a href="https://yd-yin.github.io/FisherMatch/"> project page </a> /-->
<!-- / <a href="https://youtu.be/GwQhnG6krCI"> video </a>-->
<p style="margin-bottom: 10px; margin-top: 10px">
We propose a novel Visual Co-occurrence Discovery Network (VCDN) to discover semantic co-occurring relationships within objects and facilitate the inference of their compositional structures.
</p>
</td>
</tr>
</tbody>
</table>
<table width="100%" align="center" border="0" cellspacing="0" cellpadding="20">
<tbody>
<tr>
<td style="padding-bottom: 20px; padding-top: 30px">
<heading>Experience</heading>
</td>
</tr>
</tbody>
</table>
<table width="100%" align="center" border="0">
<tbody>
<tr>
<td style="padding: 0px; padding-left: 55px; padding-right: 55px; width: 25%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src="images/pku_logo.jpg"></td>
<td style="padding: 20px; padding-top: 15px; padding-bottom: 15px" width="75%" vertical-align=middle>
<papertitle>Peking University</papertitle>
<br>
Ph.D. student in Computer Science
<br>
Advisor: <a href="https://cfcs.pku.edu.cn/people/faculty/yizhouwang/index.htm"">Prof. Yizhou Wang</a> and <a href="https://hughw19.github.io/">Prof. He Wang</a>
<p style="margin-bottom: 0">2023.9 - Present</p>
</td>
</tr>
<tr>
<td style="padding: 0px; padding-left: 55px; padding-right: 55px; width: 25%; vertical-align: middle">
<img style="width: 100%; max-width: 100%" src="images/dlut_logo.jpg">
</td>
<td style="padding: 20px; padding-top: 15px; padding-bottom: 15px" width="75%" vertical-align=middle>
<papertitle>Dalian University of Technology</papertitle>
<br>
B.E. from School of Software<br>
2019.9 - 2023.7
<p style="margin-bottom: 0">Grades: 94.10 (Rank 1/119)</p>
</td>
</tr>
</tbody>
</table>
<table width="100%" align="center" border="0" cellspacing="0" cellpadding="20">
<tbody>
<tr>
<td style="padding-bottom: 20px; padding-top: 30px">
<heading>Awards & Honors</heading>
<ul>
<li>2021 China National Scholarships</li>
<li>2020 & 2022 DLUT Toly Scholarships</li>
<li>2023 PKU Hongcai Scholarships</li>
</ul>
</td>
</tr>
</tbody>
</table>
<table style="width: 100%; border: 0px; border-spacing: 0px; border-collapse: separate; margin-right: auto; margin-left: auto; ">
<tbody>
<tr>
<td style="padding: 0px; padding-top: 0px">
<br>
<p style="text-align: right; font-size: x-small; ">
Website template courtesy of <a style="font-size: x-small" href="https://jonbarron.info/">Jon Barron</a>.
</p>
</td>
</tr>
</tbody>
</table>
</td>
</tr>
</table>
</body>
</html>