JinHong Du

Lijingze Xiao, Jinhong Du, Yang Cong et al.

Robotic grasping from single-view observations remains a critical challenge in manipulation. Existing methods still struggle to generate stable and valid grasp poses when confronted with incomplete geometric information. To address these limitations, we propose SuperGrasp, a novel two-stage framework for single-view grasping with parallel-jaw grippers that decomposes the grasping process into initial grasp pose generation and subsequent grasp evaluation and refinement. In the first stage, we introduce a Similarity Matching Module that efficiently retrieves grasp candidates by matching the input single-view point cloud with a pre-computed primitive dataset based on superquadric coefficients. In the second stage, we propose E-RNet, an end-to-end network that expands the graspaware region and takes the initial grasp closure region as a local anchor region, enabling more accurate and reliable evaluation and refinement of grasp candidates. To enhance generalization, we construct a primitive dataset containing 1.5k primitives for similarity matching and collect a large-scale point cloud dataset with 100k stable grasp labels from 124 objects for network training. Extensive experiments in both simulation and realworld environments demonstrate that our method achieves stable grasping performance and strong generalization across varying scenes and novel objects.

Lijingze Xiao, Jinhong Du, Yang Cong et al.

Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, previous work has introduced pushing as an auxiliary action to create graspable space. However, these methods often struggle with both stability and efficiency because they neglect the scene's geometric information, which is essential for evaluating grasp robustness and ensuring that pushing actions are safe and effective. To this end, we propose a geometry-aware push-grasp synergy framework that leverages point cloud data to integrate grasp and push evaluation. Specifically, the grasp evaluation module analyzes the geometric relationship between the gripper's point cloud and the points enclosed within its closing region to determine grasp feasibility and stability. Guided by this, the push evaluation module predicts how pushing actions influence future graspable space, enabling the robot to select actions that reliably transform non-graspable states into graspable ones. By jointly reasoning about geometry in both grasping and pushing, our framework achieves safer, more efficient, and more reliable manipulation in cluttered settings. Our method is extensively tested in simulation and real-world environments in various scenarios. Experimental results demonstrate that our model generalizes well to real-world scenes and unseen objects.

XingYu Fu, JinHong Du, YiFeng Guo et al.

This paper demonstrates how to apply machine learning algorithms to distinguish good stocks from the bad stocks. To this end, we construct 244 technical and fundamental features to characterize each stock, and label stocks according to their ranking with respect to the return-to-volatility ratio. Algorithms ranging from traditional statistical learning methods to recently popular deep learning method, e.g. Logistic Regression (LR), Random Forest (RF), Deep Neural Network (DNN), and the Stacking, are trained to solve the classification task. Genetic Algorithm (GA) is also used to implement feature selection. The effectiveness of the stock selection strategy is validated in Chinese stock market in both statistical and practical aspects, showing that: 1) Stacking outperforms other models reaching an AUC score of 0.972; 2) Genetic Algorithm picks a subset of 114 features and the prediction performances of all models remain almost unchanged after the selection procedure, which suggests some features are indeed redundant; 3) LR and DNN are radical models; RF is risk-neutral model; Stacking is somewhere between DNN and RF. 4) The portfolios constructed by our models outperform market average in back tests.