基本信息
蔡莹皓  女  硕导  中国科学院自动化研究所
电子邮件: yinghao.cai@ia.ac.cn
通信地址: 北京海淀区中关村东路95号
邮政编码:

研究领域

机器人操作技能的视觉特征学习、机器人感知-决策联合学习、具身智能(embodied AI)

招生信息

   
招生专业
081101-控制理论与控制工程
招生方向
机器人视觉抓取,机器人模仿学习,自主学习, embodied AI 具身智能

教育背景

2003-09--2009-06   中国科学院自动化研究所   模式识别与智能系统,博士学位
1999-09--2003-06   中南大学   计算机科学与技术,学士

工作经历

2015-11~至今,中科院自动化所,副研究员

2014-11~2015-11,中科院自动化所,助理研究员

2011-06~2014-10,美国南加州大学, Postdoctoral Fellow

2009-06~2011-06,芬兰奥卢大学, Senior Research Scientist


专利与奖励

   
奖励信息
(1) CVPR2019视觉定位竞赛第三名, , 其他, 2019
(2) Mobile Multimedia Computing研讨会最佳论文奖, 其他, 2015
(3) ECCV多摄像机目标跟踪竞赛第一名, , 其他, 2014
专利成果
[1] 刘巍, 温大勇, 鲁涛, 蔡莹皓, 杨彩云, 葛悦光, 李朋, 常文凯, 王硕. 用于连接ROS的通讯系统. CN: CN110955536A, 2020-04-03.

[2] 葛悦光, 温大勇, 蔡莹皓, 鲁涛, 刘巍, 李朋, 常文凯, 王硕. 消防机器人和基于云平台架构的消防机器人系统. CN: CN110888442A, 2020-03-17.

[3] 王硕, 刘乃军, 鲁涛, 蔡莹皓, 席宝. 基于虚拟现实的机器人远程示教系统. CN: CN107263449B, 2020-01-10.

[4] 王硕, 席宝, 鲁涛, 蔡莹皓, 刘乃军. 基于视觉的遥操作机器人控制系统及方法. CN: CN107363831B, 2020-01-10.

[5] 王硕, 李朋, 杨彩云, 鲁涛, 温大勇, 蔡莹皓, 常文凯, 王睿, 刘巍, 葛悦光. 一种具备在线地图构建和导航功能的自主消防机器人系统. CN: CN110201340A, 2019-09-06.

[6] 谭铁牛, 黄凯奇, 蔡莹皓. 基于多摄像机的目标连续跟踪方法. CN: CN101751677A, 2010-06-23.

[7] 谭铁牛, 黄凯奇, 蔡莹皓. 基于信息融合的夜间视觉监控方法. CN: CN101409825A, 2009-04-15.

出版信息

   
发表论文
(1) Joint Self-Supervised Monocular Depth Estimation and SLAM, International Conference on Pattern Recognition, 2022, 通讯作者
(2) Meta-Imitation Learning by Watching Video Demonstrations, International Conference on Learning Representations, 2022, 第 4 作者
(3) Meta-Residual Policy Learning: Zero-Trial Robot Skill Adaptation via Knowledge Fusion, IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 第 5 作者
(4) VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting, International Conference on Intelligent Robots and Systems (IROS 2022), 2022, 通讯作者
(5) Manipulation skill learning on multi-step complex task based on explicit and implicit curriculum learning, SCIENCE CHINA-INFORMATION SCIENCES, 2022, 第 3 作者
(6) Picking out the Impurities: Attention-based Push-Grasping in Dense Clutter, ROBOTICA, 2022, 第 2 作者
(7) Hierarchical Learning from Demonstrations for Long-Horizon Tasks, International conference on robotics & automation (ICRA), 2021, 第 4 作者
(8) 3DTDesc: learning local features using 2D and 3D cues, MACHINE VISION AND APPLICATIONS, 2021, 第 2 作者
(9) A Novel Heterogeneous Actor-critic Algorithm with Recent Emphasizing Replay Memory, INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING, 2021, 第 3 作者
(10) SOZIL: Self-Optimal Zero-shot Imitation Learning, Ieee transactions on cognitive and developmental systems, 2021, 第 5 作者
(11) DIMSAN: Fast Exploration with the Synergy between Density-based Intrinsic Motivation and Self-adaptive Action Noise, IEEE International Conference on Robotics and Automation, ICRA 2021, 2021, 第 5 作者
(12) ACDER: Augmented Curiosity-Driven Experience Replay, 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, 第 5 作者
(13) Real-Sim-Real Transfer for Real-World Robot Control Policy Learning with Deep Reinforcement Learning, APPLIED SCIENCES-BASEL, 2020, 通讯作者
(14) Dynamic Guided Network for Monocular Depth Estimation, International Conference on Pattern Recognition, 2020, 第 2 作者
(15) Localizing Discriminative Visual Landmarks for Place Recognition, 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, 第 2 作者
(16) Learning Category-level Implicit 3D Rotation Representations for 6D Pose Estimation from RGB Images, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019, 第 2 作者
(17) Self-modeling Tracking Control of Crawler Fire Fighting Robot Based on Causal Network, 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2019, 第 5 作者
(18) Programming by Visual Demonstration for Pick-and-Place Tasks using Robot Skills, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019, 
(19) 机器人操作技能学习方法综述, A Review of Robot Manipulation Skills Learning Methods, 自动化学报, 2019, 第 3 作者
(20) 基于改进SIFT-ICP算法的物体点云建模方法, Object point cloud modeling method based on improved SIFT-ICP algorithm, 高技术通讯, 2019, 第 3 作者
(21) A robotic shared control teleoperation method based on learning from demonstrations, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2019, 第 4 作者
(22) Visual Localization in Changing Environments using Place Recognition Techniques, 2018 24TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION (ICPR), 2018, 第 2 作者
(23) Probabilistic Voting for Sequence Based Visual Place Recognition, 2018 24TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION (ICPR), 2018, 第 2 作者
(24) 3DTNet: Learning Local Features using 2D and 3D Cues, 2018 INTERNATIONAL CONFERENCE ON 3D VISION (3DV), 2018, 第 2 作者
(25) 基于深度学习的机器人抓取位置检测方法, A method for robotic grasping position detection based on deep learning, 高技术通讯, 2018, 第 5 作者
(26) Querying geo-tagged videos for vision applications using spatial metadata, EURASIP JOURNAL ON IMAGE AND VIDEO PROCESSING, 2017, 第 1 作者
(27) Overview of Deep Learning, 2017, 第 2 作者
(28) 一种基于深度学习的机械臂抓取方法, 机器人, 2017, 通讯作者
(29) Optimization of Radial Distortion Self-Calibration for Structure from Motion from Uncalibrated UAV Images, 2016 23RD INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION (ICPR), 2016, 第 2 作者
(30) Semantic Segmentation with Modified Deep Residual Networks, Proceedings of Chinese Conference on Pattern Recognition, 2016, 第 3 作者
(31) Persistent People Tracking and Face Capture using a PTZ Camera, MACHINE VISION AND APPLICATIONS, 2016, 通讯作者
(32) Overview of Deep Learning, 2016 31ST YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2016, 通讯作者
(33) The multi-strand graph for a PTZ tracker, IEEE International Conference on Advanced Video and Signal Based Surveillance, 2015, 第 4 作者
(34) Gift: A geospatial image and video filtering tool for computer vision applications with geo-tagged mobile videos, IEEE International Conference on Multimedia and Expo, 2015, 第 1 作者
(35) Learning predictable binary codes for face indexing, PATTERN RECOGNITION, 2015, 第 2 作者
(36) Exploring Context Information for Inter-Camera Multiple Target Tracking, IEEE Winter Conference on Applications of Computer Vision, 2014, 第 1 作者
(37) Persistent People Tracking and Face Capture Over a Wide Area, IEEE Conference on Computer Vision and Pattern Recognition Workshop, 2014, 第 2 作者
(38) Janus - Multi Source Event Detection and Collection System for Effective Surveillance of Criminal Activity, Journal of Information Processing Systems, 2014, 第 6 作者
(39) Towards a Practical PTZ Face Detection and Tracking System, 2013 IEEE WORKSHOP ON APPLICATIONS OF COMPUTER VISION (WACV), 2013, 通讯作者
(40) Demo:Persistent People Tracking and Face Capture using a PTZ Camera, International Conference on Distributed Smart Cameras, 2013, 第 1 作者
(41) Towards a practical PTZ Face Detection and Tracking System, IEEE Workshop on Applications of Computer Vision, 2013, 第 1 作者
(42) Matching Groups of People by Covariance Descriptor, International Conference on Pattern Recognition, 2010, 第 1 作者
(43) Person Re-identification Based on Global Color Context, 10th Asian Conference on Computer Vision, 2010, 第 1 作者
(44) Boosting Clusters of Samples for Sequence Matching in Camera Networks, International Conference on Pattern Recognition, 2010, 第 2 作者
(45) Recovering the topology of multiple cameras by finding continuous paths in a trellis, International Conference on Pattern Recognition (ICPR), 2010, 第 1 作者
(46) 非重叠多摄像机场景下的目标连续跟踪, 2009, 第 1 作者
(47) Matching Tracking Sequences Across Widely Separated Cameras, IEEE International Conference on Image Processing, 2008, 第 1 作者
(48) Human Appearance Matching Across Multiple Non-overlapping Cameras, International Conference on Pattern Recognition, 2008, 第 1 作者
(49) Real-time moving object classification with automatic scene division, 2007 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-7, 2007, 第 2 作者
(50) Continuously Tracking Objects Across Multiple Widely Separated Cameras, The 8th Asian Conference on Computer Vision, 2007, 第 1 作者
(51) Context Enhancement of Nighttime Surveillance by Image Fusion, International Conference on Pattern Recognition, 2006, 第 1 作者

科研活动

   
科研项目
( 1 ) 基于多源视频的大范围场景目标跟踪, 负责人, 国家任务, 2016-01--2018-12
( 2 ) 面向空间在轨灵巧操作的机器人模仿学习研究, 负责人, 其他任务, 2019-01--2020-12
( 3 ) 机器人知识和技能获取与增长的人工智能和机器学习理论与方法, 参与, 国家任务, 2018-01--2020-12
( 4 ) 基于多模态传感关联与多层次知识协同的视觉测量理论与方法研究, 参与, 国家任务, 2018-01--2020-12
( 5 ) 水下机器人自主感知、导航与控制, 参与, 国家任务, 2018-01--2020-01
( 6 ) 基于镜像神经机制的操作技能自主学习技术研究, 参与, 地方任务, 2017-01--2018-12
( 7 ) 室外大范围复杂动态场景安保机器人长期导航与场景理解, 负责人, 国家任务, 2020-01--2023-12
( 8 ) 自主无人系统的开放通用高端智能控制器, 负责人, 国家任务, 2022-06--2025-05

指导学生

现指导学生

郑力铭  硕士研究生  085400-电子信息  

马文轩  硕士研究生  081101-控制理论与控制工程