arXiv subjects

Mingyu Lei

Publications and source records attributed to Mingyu Lei.

4 recordsLinked to original sources

arXiv2025

GR-Dexter Technical Report

Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object occlusions, and the cost of collecting real-robot data. We present GR-Dexter, a holistic hardware-model-data framework for VLA-based generalist manipulation on a bimanual dexterous-hand robot. Our approach combines the design of a compact 21-DoF robotic hand, an intuitive bimanual teleoperation system for real-robot data collection, and a training recipe that leverages teleoperated robot trajectories together with large-scale vision-language and carefully curated cross-embodiment datasets. Across real-world evaluations spanning long-horizon everyday manipulation and generalizable pick-and-place, GR-Dexter achieves strong in-domain performance and improved robustness to unseen objects and unseen instructions. We hope GR-Dexter serves as a practical step toward generalist dexterous-hand robotic manipulation.

cs.RO↗

arXiv2024

Twinning induced by elastic anisotropy in FCC crystals

Dislocation slip and deformation twin are widely regarded as two important mechanisms of active competition in the process of plastic deformation. Calculating and comparing the critical resolved shear stress (CRSS) of two deformation modes are the key to discussing the mechanical properties reflected by different mechanisms in crystals. Here, the paper proposes a model to predict the CRSS of discrete twins, resembling thin layers, using the elastic anisotropy theory and a macroscopic energy perspective. In addition, the directionality of deformation twinning is also verified. We investigated twinning in FCC crystals to illustrate the methodology, and predicted the CRSS of twinning under different variables such as temperature and strain rate, both of which were in excellent agreement with experimental and other theory results. It draws the conclusion that we can promote twinning nucleation by applying shear stress along the <112> direction to reduce the interface energy as a resistance term and increase the difference in strain energy for twinning nucleation. This conclusion provides a guiding direction for exploring and accurately predicting the conditions of twinning in FCC crystals in future.

cond-mat.mtrl-sci↗

arXiv2023

Blessing of High-Order Dimensionality: from Non-Convex to Convex Optimization for Sensor Network Localization

This paper investigates the Sensor Network Localization (SNL) problem, which seeks to determine sensor locations based on known anchor locations and partially given anchors-sensors and sensors-sensors distances. Two primary methods for solving the SNL problem are analyzed: the low-dimensional method that directly minimizes a loss function, and the high-dimensional semi-definite relaxation (SDR) method that reformulates the SNL problem as an SDP (semi-definite programming) problem. The paper primarily focuses on the intrinsic non-convexity of the loss function of the low-dimensional method, which is shown in our main theorem. The SDR method, via second-order dimension augmentation, is discussed in the context of its ability to transform non-convex problems into convex ones; while the first-order direct dimension augmentation fails. Additionally, we will show that more edges don't necessarily contribute to the better convexity of the loss function. Moreover, we provide an explanation for the success of the SDR+GD (gradient descent) method which uses the SDR solution as a warm-start of the minimization of the loss function by gradient descent. The paper also explores the parallels among SNL, max-cut, and neural networks in terms of the blessing of high-order dimension augmentation.

math.OC↗

arXiv2023

Orowan strengthening with thermal activation

Orowan strengthening is a primary way of strengthening metallic materials.The effect of temperature on the Orowan strengthening mechanism is still debatable in the present day.In this study,the effect of temperature on the Orowan strengthening mechanism is systematically investigated,a thermal activation Orowan strengthening mechanism is developed,and the corresponding Orowan stress is deduced.The results indicate that the obstacle scales substantially affect the thermal activation-based dislocation that bypasses the precipitates processes.In small obstacle scales,the thermal activation contribution to Orowan stress cannot be ignored;while in large obstacle scales,the thermal activation contribution can be ignored even at high temperatures.In addition to temperature, the effects of shear modulus,strain rate, and dislocation density are investigated on Orowan stress.This work not only provides new insight into the Orowan strengthening mechanism but also aids in the development of new high-temperature structural materials.

cond-mat.mtrl-sci↗