My Projects
Here are the main robotics and AI projects I have worked on. Each project includes detailed documentation, code, and results.
Robot Learning & Control
SO-101 Robot Arm System
A comprehensive system for SO-101 dual-arm robot control, data collection, and model deployment. Features teleoperation, calibration, and policy training.
Technologies: Python, LeRobot, PyTorch, OpenCV
Status: Active Development
GitHub: so101
LeRobot Framework
Contributions to HuggingFace’s LeRobot framework for robot learning. Includes dataset tools, policy training, and deployment utilities.
Technologies: Python, PyTorch, HuggingFace
Status: Active Development
GitHub: lerobot_workdocs
VLA Model Fine-tuning
Tools and pipelines for fine-tuning Vision-Language-Action models like SmolVLA for specific robotic tasks.
Technologies: Python, PyTorch, Transformers
Status: Active Development
GitHub: vla-finetune
Computer Vision & 3D Perception
FR5 Robot with Depth Camera
Integration of FR5 robot arm with Gemini depth camera for 3D perception and manipulation tasks.
Technologies: ROS2, OpenCV, Orbbec SDK
Status: Completed
GitHub: DianRobot_FR_Camera
VLA Data Capture System
System for capturing demonstration data for VLA model training using multiple cameras and robot arms.
Technologies: Python, OpenCV, ROS2
Status: Completed
GitHub: fr_vla_data_capture
System & Tools
Custom Linux System
Building a minimal Linux system from scratch with custom kernel and initrd.
Technologies: Linux, Shell Scripting, QEMU
Status: Completed
GitHub: custom-linux-system
Technical Documentation
Comprehensive documentation for SO-101 robot arm, LeRobot framework, and VLA models.
Technologies: Markdown, Git
Status: Active Development
GitHub: lerobot_workdocs
Academic Projects
Chemical Experiment Robot Arm
Design of an intelligent application for chemical experiment robotic arm based on imitation learning.
Status: Published (ICTC Conference)**
Collaborators: Dian Team
Image Processing & Machine Learning
Various projects in digital image processing and machine learning during coursework.
Status: Completed**
Click on project titles for detailed documentation and code.