Fengbo Lan

Fengbo Lan, Shengjie Wang, Yunzhe Zhang et al.

Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throwing-catching behavior has the potential to increase the speed of transporting objects to their destination. However, dynamic dexterous manipulation poses a major challenge for stable control due to a large number of dynamic contacts. In this paper, we propose a Learning-based framework for Throwing-Catching tasks using dexterous hands (LTC). Our method, LTC, achieves a 73\% success rate across 45 scenarios (diverse hand poses and objects), and the learned policies demonstrate strong zero-shot transfer performance on unseen objects. Additionally, in tasks where the object in hand faces sideways, an extremely unstable scenario due to the lack of support from the palm, all baselines fail, while our method still achieves a success rate of over 60\%.

Shengjie Wang, Fengbo Lan, Xiang Zheng et al.

In current model-free reinforcement learning (RL) algorithms, stability criteria based on sampling methods are commonly utilized to guide policy optimization. However, these criteria only guarantee the infinite-time convergence of the system's state to an equilibrium point, which leads to sub-optimality of the policy. In this paper, we propose a policy optimization technique incorporating sampling-based Lyapunov stability. Our approach enables the system's state to reach an equilibrium point within an optimal time and maintain stability thereafter, referred to as "optimal-time stability". To achieve this, we integrate the optimization method into the Actor-Critic framework, resulting in the development of the Adaptive Lyapunov-based Actor-Critic (ALAC) algorithm. Through evaluations conducted on ten robotic tasks, our approach outperforms previous studies significantly, effectively guiding the system to generate stable patterns.

Changsheng Chen, Shuzheng Zhang, Fengbo Lan et al.

Recapturing attack can be employed as a simple but effective anti-forensic tool for digital document images. Inspired by the document inspection process that compares a questioned document against a reference sample, we proposed a document recapture detection scheme by employing Siamese network to compare and extract distinct features in a recapture document image. The proposed algorithm takes advantages of both metric learning and image forensic techniques. Instead of adopting Euclidean distance-based loss function, we integrate the forensic similarity function with a triplet loss and a normalized softmax loss. After training with the proposed triplet selection strategy, the resulting feature embedding clusters the genuine samples near the reference while pushes the recaptured samples apart. In the experiment, we consider practical domain generalization problems, such as the variations in printing/imaging devices, substrates, recapturing channels, and document types. To evaluate the robustness of different approaches, we benchmark some popular off-the-shelf machine learning-based approaches, a state-of-the-art document image detection scheme, and the proposed schemes with different network backbones under various experimental protocols. Experimental results show that the proposed schemes with different network backbones have consistently outperformed the state-of-the-art approaches under different experimental settings. Specifically, under the most challenging scenario in our experiment, i.e., evaluation across different types of documents that produced by different devices, we have achieved less than 5.00% APCER (Attack Presentation Classification Error Rate) and 5.56% BPCER (Bona Fide Presentation Classification Error Rate) by the proposed network with ResNeXt101 backbone at 5% BPCER decision threshold.