About Me
My name is Xiaodi Yuan (袁小迪), and I also go by Ada.
I am a first-year PhD student at UC San Diego, advised by Prof. Hao Su. I received my B.Eng. degree from IIIS ("Yao Class"), Tsinghua University, where I worked with Prof. Li Yi on 3D shape reconstruction, and Prof. Tao Du on physics-based simulation.
My research interests are computer graphics and physics-based simulation. I am working on building fast and realistic simulation environments for embodied AI.
Publications [More]
General-Purpose Sim2Real Protocol for Learning Contact-Rich Manipulation With Marker-Based Visuotactile Sensors
TRO 2024 [PDF]
We build a general-purpose Sim2Real protocol for manipulation policy learning with marker-based visuotactile sensors. To improve the simulation fidelity, we employ an FEM-based physics simulator that can simulate the sensor deformation accurately and stably for arbitrary geometries. We further propose a novel tactile feature extraction network that directly processes the set of pixel coordinates of tactile sensor markers and a self-supervised pre-training strategy to improve the efficiency and generalizability of RL policies.
Projects [More]
SAPIEN SPH: A Simple GPU-based Implementation of PCISPH
Homework project for the course “Physical Simulation” at UCSD instructed by Prof. Albert Chern.
ManiSkill-ViTac: Vision-based-Tactile Manipulation Skill Learning Challenge 2024
ICRA 2024 Workshop [Project]
The ManiSkill-ViTac Challenge aims to provide a standardized benchmarking platform for evaluating the performance of vision-based-tactile manipulation skill learning in real-world robot applications. The challenge is supported by the GPU-based IPC simulator I developed.