Jiangran Lyu

Jiangran Lyu | 吕江燃

I am a Ph.D. student at School of Computer Science, Peking University, where I am honored to be advised by Prof. Yizhou Wang and co-advised by Prof. He Wang.

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.

Email / Github

News

NEW [2024/12] Invited talk at TechBeat .

Publications

*: joint first author; † corresponding author(s)

	RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments Yuxing Chen, Songlin Wei, Bowen Xiao, Jiangran Lyu, Jiayi Chen, Feng Zhu, He Wang^† arXiv 2024 project page This work explores robotic hanger insertion with a focus on diverse garments, leveraging a novel learning-based approach.
	ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang^†, He Wang^† Conference on Robot Learning (CoRL)* 2024* Data Generation for Robotics@RSS* 2024* arXiv / project page / code 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.
	Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution Yingda Yin, Jiangran Lyu, Yang Wang, Haoran Liu, He Wang^†, Baoquan Chen^†, IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)* 2025* arXiv / project page / code 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.
	Discovering Visual Co-occurrence for Fine-grained Image Retrieval Shijie Wang, Haojie Li^†, Jiangran Lyu, Qi Tian, Submitted to TPAMI arXiv / project page / code 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.

Experience

	Peking University Ph.D. student in Computer Science Advisor: Prof. Yizhou Wang and Prof. He Wang 2023.9 - Present
	Dalian University of Technology B.E. from School of Software 2019.9 - 2023.7 Grades: 94.10 (Rank 1/119)

Awards & Honors

2021 China National Scholarships
2020 & 2022 DLUT Toly Scholarships
2023 PKU Hongcai Scholarships

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