arXiv subjects

Jia Cheng

Publications and source records attributed to Jia Cheng.

23 records · Page 2Linked to original sources

arXiv2020

Toward Sim-to-Real Directional Semantic Grasping

We address the problem of directional semantic grasping, that is, grasping a specific object from a specific direction. We approach the problem using deep reinforcement learning via a double deep Q-network (DDQN) that learns to map downsampled RGB input images from a wrist-mounted camera to Q-values, which are then translated into Cartesian robot control commands via the cross-entropy method (CEM). The network is learned entirely on simulated data generated by a custom robot simulator that models both physical reality (contacts) and perceptual quality (high-quality rendering). The reality gap is bridged using domain randomization. The system is an example of end-to-end (mapping input monocular RGB images to output Cartesian motor commands) grasping of objects from multiple pre-defined object-centric orientations, such as from the side or top. We show promising results in both simulation and the real world, along with some challenges faced and the need for future research in this area.

cs.RO↗

arXiv2020

Camera-to-Robot Pose Estimation from a Single Image

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints) associated with the robot. The network is trained entirely on simulated data using domain randomization to bridge the reality gap. Perspective-n-point (PnP) is then used to recover the camera extrinsics, assuming that the camera intrinsics and joint configuration of the robot manipulator are known. Unlike classic hand-eye calibration systems, our method does not require an off-line calibration step. Rather, it is capable of computing the camera extrinsics from a single frame, thus opening the possibility of on-line calibration. We show experimental results for three different robots and camera sensors, demonstrating that our approach is able to achieve accuracy with a single frame that is comparable to that of classic off-line hand-eye calibration using multiple frames. With additional frames from a static pose, accuracy improves even further. Code, datasets, and pretrained models for three widely-used robot manipulators are made available.

cs.RO↗

arXiv2019

Superconductivity in an organometallic compound

Organometallic compounds constitute a very large group of substances that contain at least one metal-to-carbon bond in which the carbon is part of an organic group. They have played a major role in the development of the science of chemistry. These compounds are used to a large extent as catalysts (substances that increase the rate of reactions without themselves being consumed) and as intermediates in the laboratory and in industry. Recently, novel quantum phenormena such as topological insulators and superconductors were also suggested in these materials. However, there has been no report on the experimental exploration for the topological state. Evidence for superconductivity from the zero-resistivity state in any organometallic compound has not been achieved yet, though much efforts have been devoted. Here we report the experimental realization of superconductivity with the critical temperature of 3.6 K in a potassium-doped organometallic compound, $ i.e.$ tri-$o$-tolylbismuthine with the evidence of both the Meissner effect and the zero-resistivity state through the $dc$ and $ac$ magnetic susceptibility and resistivity measurements. The obtained superconducting parameters classify this compound as a type-II superconductor. The benzene ring is identified to be the essential superconducting unit in such a phenyl organometallic compound. The superconducting phase and its composition are determined by the combined studies of the X-ray diffraction and theoretical calculations as well as the Raman spectroscopy measurements. These findings enrich the applications of organometallic compounds in superconductivity and add a new electron-acceptor family for organic superconductors. This work also points to a large pool for finding superconductors from organometallic compounds.

cond-mat.supr-con↗

arXiv2018

Superconductivity from Meissner Effect and Zero Resistivity in a Phenyl Molecule

Recently, phenyl molecules have been reported to exhibit Meissner effect mainly from magnetization measurements. Realizing zero-resistivity state in these materials seems a challenge due to many practical difficulties but is required to characterize the existence of superconductivity. By choosing potassium-doped tris(2-methylphenyl)bismuthine as an example, we perform temperature-dependent magnetic susceptibility and resistivity measurements at different magnetic fields and pressures. The solid evidence for supporting superconductivity is achieved from the obtained Meissner effect and zero resistivity with the critical temperature ($T_c$) of 3.6 K at atmosphere pressure. Upon compression, we observe the gradual evolution of superconductivity from its initial phase with a parabolic behavior of $T_{c}$ to the second one with almost constant value of $T_{c}$ of 7 K. The 7 K phase seems a common feature for these newly discovered phenyl-based superconductors.

cond-mat.supr-con↗

arXiv2018

Highly reproducible superconductivity in potassium-doped triphenylbismuth

Using a new two-step synthesis method - ultrasound treatment and low temperature annealing, we explore superconductivity in potassium-doped triphenylbismuth, which is composed of one bismuth atom and three phenyl rings. The combination of dc and ac magnetic measurements reveals that one hundred percent of synthesized samples exhibit superconductivity at 3.5 K and/or 7.2 K at ambient pressure. The magnetization hysteresis loops provide a strong evidence of type-II superconductor, with the upper critical magnetic field up to 1.0 Tesla. Both calculated electronic structure and measured Raman spectra indicate that superconductivity is realized by transferring electron from potassium to carbon atom. Our study opens an encouraging window for the search of organic superconductors in organometallic molecules.

cond-mat.supr-con↗