Visual Servoing with Residual Reinforcement Learning
Combining classical IBVS with a PPO residual policy for robust eye-in-hand manipulation on a Franka Panda robot.
Posts by Collection
portfolio
Audio-Driven Lip Synchronization
A production-grade pipeline for generating photorealistic lip-synced face videos from arbitrary speech audio, combining SyncNet with a U-Net generator.
Medical Paper Abstract Structurization
Fine-tuning LLaMA with LoRA to convert free-text medical abstracts into structured JSON — covering synthetic data generation, multi-layer quality filtering, targeted loss design, and field-level F1 evaluation.
3D Motion Planning
Comparison of Bi-directional RRT and Weighted A* for collision-free path planning across seven 3D obstacle environments.
Visual-Inertial SLAM
An EKF-based visual-inertial SLAM pipeline that fuses high-rate IMU prediction with stereo observations for 3D trajectory and landmark mapping.
VLA Data Efficiency Study on LIBERO
Fine-tuning SmolVLA across 5 data regimes on LIBERO-Spatial to investigate how many robot demonstrations a Vision-Language-Action model actually needs.
publications
RailYolact: A Yolact Focused on Edge for Real-Time Rail Segmentation
Qihao Qian
arXiv
Enhances Yolact instance segmentation with edge detection to improve rail mask precision for autonomous train obstacle avoidance.
∇-SDF: Learning Euclidean Signed Distance Functions Online with Gradient-Augmented Octree Interpolation and Neural Residual
Zhirui Dai*, Qihao Qian*, Tianxing Fan, Nikolay Atanasov
Submitted to IROS 2026
A hybrid method combining explicit gradient-augmented octree interpolation with implicit neural residuals for efficient and accurate online SDF reconstruction.
talks
Talk 1 on Relevant Topic in Your Field
Published:
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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