Search Results for author: Zengyi Qin

Found 9 papers, 3 papers with code

Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions

no code implementations14 Sep 2021 Charles Dawson, Zengyi Qin, Sicun Gao, Chuchu Fan

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models.

Reactive and Safe Road User Simulations using Neural Barrier Certificates

no code implementations14 Sep 2021 Yue Meng, Zengyi Qin, Chuchu Fan

Reactive and safe agent modelings are important for nowadays traffic simulator designs and safe planning applications.

Imitation Learning

Density Constrained Reinforcement Learning

no code implementations24 Jun 2021 Zengyi Qin, Yuxiao Chen, Chuchu Fan

We study constrained reinforcement learning (CRL) from a novel perspective by setting constraints directly on state density functions, rather than the value functions considered by previous works.

MonoGRNet: A General Framework for Monocular 3D Object Detection

no code implementations18 Apr 2021 Zengyi Qin, Jinglu Wang, Yan Lu

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection.

2D Object Detection Depth Estimation +2

Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates

no code implementations ICLR 2021 Zengyi Qin, Kaiqing Zhang, Yuxiao Chen, Jingkai Chen, Chuchu Fan

We propose a novel joint-learning framework that can be implemented in a decentralized fashion, with generalization guarantees for certain function classes.

Weakly Supervised 3D Object Detection from Point Clouds

1 code implementation28 Jul 2020 Zengyi Qin, Jinglu Wang, Yan Lu

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes.

3D Object Detection Knowledge Distillation +1

KETO: Learning Keypoint Representations for Tool Manipulation

no code implementations26 Oct 2019 Zengyi Qin, Kuan Fang, Yuke Zhu, Li Fei-Fei, Silvio Savarese

For this purpose, we present KETO, a framework of learning keypoint representations of tool-based manipulation.

Robotics

Triangulation Learning Network: from Monocular to Stereo 3D Object Detection

1 code implementation CVPR 2019 Zengyi Qin, Jinglu Wang, Yan Lu

In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information.

3D Object Detection 3D Object Detection From Stereo Images

MonoGRNet: A Geometric Reasoning Network for Monocular 3D Object Localization

1 code implementation26 Nov 2018 Zengyi Qin, Jinglu Wang, Yan Lu

We propose MonoGRNet for the amodal 3D object detection from a monocular RGB image via geometric reasoning in both the observed 2D projection and the unobserved depth dimension.

2D Object Detection Depth Estimation +3

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