Jialiang Zhao
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View article: Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning Open
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and …
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies Open
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on e…
View article: Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers Open
One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This w…
View article: Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks Open
This paper presents T3: Transferable Tactile Transformers, a framework for tactile representation learning that scales across multi-sensors and multi-tasks. T3 is designed to overcome the contemporary issue that camera-based tactile sensin…
View article: PoCo: Policy Composition from and for Heterogeneous Robot Learning
PoCo: Policy Composition from and for Heterogeneous Robot Learning Open
Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected i…
View article: GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing
GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing Open
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous ele…
View article: GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation Open
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger, …
View article: Research on the Characteristics and Influencing Factors of Provincial Urban Network from the Perspective of Local Governance—Based on the Data of the Top 100 Enterprises in Four Categories in Fujian Province
Research on the Characteristics and Influencing Factors of Provincial Urban Network from the Perspective of Local Governance—Based on the Data of the Top 100 Enterprises in Four Categories in Fujian Province Open
With the development of the division of labor in product value chains and the specialization of urban functions, the network link structure model among cities is being reshaped. Studying the structure of urban networks and its related theo…
View article: FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback Open
In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local tacti…
View article: Causal Reasoning in Simulation for Structure and Transfer Learning of\n Robot Manipulation Policies
Causal Reasoning in Simulation for Structure and Transfer Learning of\n Robot Manipulation Policies Open
We present CREST, an approach for causal reasoning in simulation to learn the\nrelevant state space for a robot manipulation policy. Our approach conducts\ninterventions using internal models, which are simulations with approximate\ndynami…
View article: Additional file 1 of A predictive nomogram: a cross-sectional study on a simple-to-use model for screening 12-year-old children for severe caries in middle schools
Additional file 1 of A predictive nomogram: a cross-sectional study on a simple-to-use model for screening 12-year-old children for severe caries in middle schools Open
Additional file 1. Overview of the questionnaire
View article: The global burden of trichiasis in 2016
The global burden of trichiasis in 2016 Open
The 2016 estimate is lower than previous estimates, probably due to more and better data; scale-up of trichiasis management services; and reductions in incidence due to lower active trachoma prevalence.
View article: Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation
Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation Open
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in s…
View article: Efficacy and safety of 0.05% cyclosporine ophthalmic emulsion in treatment of Chinese patients with moderate to severe dry eye disease: A 12-week, multicenter, randomized, double-masked, placebo-controlled phase III clinical study
Efficacy and safety of 0.05% cyclosporine ophthalmic emulsion in treatment of Chinese patients with moderate to severe dry eye disease: A 12-week, multicenter, randomized, double-masked, placebo-controlled phase III clinical study Open
Background: Dry eye disease (DED) is a chronic ocular surface disease that affects hundreds of millions of people worldwide. Although 0.05% cyclosporine ophthalmic emulsion (CsA OE) has long been prescribed in the U.S. for the treatment of…
View article: Correction: Assessment of trachoma in suspected endemic areas within 16 provinces in mainland China
Correction: Assessment of trachoma in suspected endemic areas within 16 provinces in mainland China Open
[This corrects the article DOI: 10.1371/journal.pntd.0007130.].
View article: Assessment of trachoma in suspected endemic areas within 16 provinces in mainland China
Assessment of trachoma in suspected endemic areas within 16 provinces in mainland China Open
This large study suggested that trachoma was not a public health problem in 16 provinces that had been previously suspected to be endemic. These findings will facilitate planning for elimination of trachoma from PR China.
View article: Evaluation of Anterior Segment Parameters of First-Time Acute Primary Angle Closure Eye and the Fellow Eye: A Cross-Sectional Study
Evaluation of Anterior Segment Parameters of First-Time Acute Primary Angle Closure Eye and the Fellow Eye: A Cross-Sectional Study Open
Background: To evaluate the anterior segment parameters of first-time acute primary angle closure(APAC) eye and the fellow eye (primary angle closure suspect, PACS) with anterior segment optical coherence tomography (AS-OCT) and analyze th…
View article: Meeting the need for corrective spectacles in visually impaired Chinese school children: the potential of ready-made spectacles
Meeting the need for corrective spectacles in visually impaired Chinese school children: the potential of ready-made spectacles Open
Purpose To assess the potential of ready-made (spherical) spectacles (RMS) in meeting the need for refractive correction in visually impaired children in China. Methods Eligible children aged 5–17 years were identified from the three study…
View article: The global burden of trichiasis in 2016
The global burden of trichiasis in 2016 Open
Background Trichiasis is present when one or more eyelashes touches the eye. Uncorrected, it can cause blindness. Accurate estimates of numbers affected, and their geographical distribution, help guide resource allocation. Methods We obtai…
View article: Assessment of trachoma in suspected endemic areas within 14 provinces in mainland China v1
Assessment of trachoma in suspected endemic areas within 14 provinces in mainland China v1 Open
Province-level assessment teams, trained in WHO Trachoma Rapid Assessment methodology and in WHO simplified trachoma grading scheme, carried out assessments in 14 provinces. Based on the published literature, including national and interna…