Anran Zhang

Hi, my name is Anran Zhang. I am enthastic about generalizable robotic manipulation. I am a PhD student in Mobile Robotics Lab at TUM/ETH Zurich with Prof. Stefan Leutenegger, Dr. Helen Oleynikova, Prof. Daniel Cremers, working on mobile manipulation.

I grow with different robot systems and research projects. I interned in Realtime System Group at Agile Robots under supervision Dr. Eugen Nuss and KI. Fabrik under supervision of Prof. Sami Haddadin, working on realtime control of robotic systems.

I graduated from TUM with high distinction in Mechatronics and Robotics. I obtained my bachelor's degree in Jilin University in China, majoring in Automotive Engineering, where I had a great time in Gspeed Racing Team.

Email  /  CV  /  Scholar  /  Github

Publications

(* and † indicate equal first authorship or equal last authorship.)

We present Actron3D, a framework that enables robots to acquire transferable 6-DoF manipulation skills from just a few monocular, uncalibrated, RGB-only human videos via Neural Affordance Functions.

We present a framework to learn 3D affordance from in-the-wild human videos, enabling zero-shot robotic manipulation in real-world environments.

We provided a robust framework for autonomous and adaptive robotic manipulation. The framework consists of tank energy estimation and unified force-impedance control for a plugin-and-play experience for safety guarantee to constant interactions with the environment.

We propose Vision-Augmented Unified Force-Impedance Control (VA-UFIC), aiming at intuitive visuotactile exploration of unknown 3D curvatures, with realtime adaptation.

Other Projects

Implement close-loop dynamic simulation to accelerate the development of in-house control algorithms. Dynamics and kinematics of the robot is computed using Pinocchio.

Calibration industrial robot arm according to Standard ISO 9283, gather data from laser tracker and robot, evaluate the repeatablity performance, and optimize the kinematic model of the robot.

Deployed control algorithms (PID and Model Predictive Control) on scaled F10th racecar in simulation and on race track. It was fun!