Lei Zhang
| Address: | University of Hamburg Faculty of Mathematics, Informatics and Natural Science Department Informatics, Group TAMS Vogt-Kölln-Str. 30 D-22527 Hamburg |
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| Position: | Ph.D. Student | |
| E-Mail: | zhanglei.cn.de@gmail.com | |
| E-Mail: | lei.zhang-1@studium.uni-hamburg.de | |
| Homepage: | https://leizhang-public.github.io/ | |
| X/Twitter: | lzhang94 | |
| GitHub: | leizhang-public | |
| Google Scholar: | https://scholar.google.com/citations?user=I31H3UAAAAAJ&hl=en | |
| ResearchGate: | https://www.researchgate.net/profile/Lei-Zhang-684 |
Research Interests
- Robot Dexterous Grasping
- Multi-Fingered Robotic Hand Manipulation
- Reinforcement Learning for Robot Manipulation
- Lauguage Guided Robotic Manipulation
- Hand Pose Estimation
- Vision-based Teleoperation
Publications
2026
- Lei Zhang†, Ju Dong, Kaixin Bai, Minheng Ni, Zoltan-Csaba Marton, Zhaopeng Chen, Jianwei Zhang Responsiblerobotbench: Benchmarking responsible robot manipulation using multi-modal large language models.10.48550/arXiv.2512.04308 (arxiv).
- Lei Zhang†, Diwen Zheng, Kaixin Bai, Zhenshan Bing, Zoltan-Csaba Marton, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang OmniDexVLG: Learning Dexterous Grasp Generation from Vision Language Model-Guided Grasp Semantics, Taxonomy and Functional Affordance.10.48550/arXiv.2512.03874 (arxiv).
- Yutong Shen, Hangxu Liu, Penghui Liu, Jiashuo Luo, Yongkang Zhang, Rex Morvley, Chen Jiang, Jianwei Zhang, Lei Zhang† MetaWorld-X: Hierarchical World Modeling via VLM-Orchestrated Experts for Humanoid Loco-Manipulation.10.48550/arXiv.2603.08572 (arxiv).
- Ju Dong*, Liding Zhang, Lei Zhang*†, Yu Fu, Kaixin Bai, Zoltan-Csaba Marton, Zhenshan Bing, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang From Flow to One Step: Real-Time Multi-Modal Trajectory Policies via Implicit Maximum Likelihood Estimation-based Distribution Distillation, 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). 10.48550/arXiv.2603.09415 (arxiv).
- Kaixin Bai, Lei Zhang†, Yiwen Liu, Zhaopeng Chen, Jianwei Zhang, Stereoanything: Advanced zero-shot stereo imaging for robotic grasp detection with transparent objects, IEEE Transactions on Cybernetics 2026. doi: 10.1109/TCYB.2026.3670734 (ieeexplore).
- Kaixin Bai, Huajian Zeng, Lei Zhang†, Yiwen Liu, Hongli Xu, Zhaopeng Chen, Jianwei Zhang, ClearDepth: enhanced stereo perception of transparent objects for robotic manipulation, IEEE International Conference on Robotics & Automation (ICRA 2026). 10.48550/arXiv.2409.08926 (arxiv).
- Hongli Xu*, Lei Zhang*†, Xiaoyue Hu*, Boyang Zhong, Kaixin Bai, Zoltán-Csaba Márton, Zhenshan Bing, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang Funcanon: Learning pose-aware action primitives via functional object canonicalization for generalizable robotic manipulation, IEEE International Conference on Robotics & Automation (ICRA 2026). 10.48550/arXiv.2509.19102 (arxiv).
- Ju Dong, Lei Zhang†, Liding Zhang, Yao Ling, Yu Fu, Kaixin Bai, Zoltán-Csaba Márton, Zhenshan Bing, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang M4diffuser: Multi-view diffusion policy with manipulability-aware control for robust mobile manipulation, IEEE International Conference on Robotics & Automation (ICRA 2026). 10.48550/arXiv.2509.14980 (arxiv).
2025
- Minheng Ni*, Lei Zhang*, Zihan Chen, Kaixin Bai, Zhaopeng Chen, Jianwei Zhang, Wangmeng Zuo Don't Let Your Robot be Harmful: Responsible Robotic Manipulation via Safety-as-Policy, IEEE Robotics and Automation Letters 2025 (RAL 2025) and IEEE International Conference on Robotics & Automation (ICRA 2026). doi: 10.1109/LRA.2025.3623027 (ieeexplore).
- Lei Zhang, Kaixin Bai, Guowen Huang, Zhenshan Bing, Zhaopeng Chen, Alois Knoll, Jianwei Zhang Contactdexnet: Multi-fingered robotic hand grasping in cluttered environments through hand-object contact semantic mapping, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). doi: 10.1109/IROS60139.2025.11247756 (ieeexplore).
- Qingyu Wang*, Kaixin Bai*, Lei Zhang†, Qiang Li, Alois Knoll, Jianwei Zhang, Yibin Ying, Mingchuan Zhou Toward Collision-Aware Robotic Fragile Fruit Grasping: A Sim-to-Real Framework for Perception, Reasoning, and Execution, 2025 IEEE/ASME Transactions on Mechatronics (TMECH 2025). doi: 10.1109/TMECH.2025.3604848 (ieeexplore).
- Qingyu Wang, Kaixin Bai, Lei Zhang, Zhizhong Sun, Tianze Jia, Dong Hu, Qiang Li, Jianwei Zhang, Alois Knoll, Huanyu Jiang, Mingchuan Zhou, Yibin Ying Towards reliable and damage-less robotic fragile fruit grasping: An enveloping gripper with multimodal strategy inspired by Asian elephant trunk, 2025 Computers and Electronics in Agriculture. doi: Computers and Electronics in Agriculture (Elsevier).
- Lei Zhang†, Soumya Mondal, Zhenshan Bing, Kaixin Bai, Diwen Zheng, Zhaopeng Chen, Alois Christian Knoll, Jianwei Zhang DORA: Object affordance-guided reinforcement learning for dexterous robotic manipulation, 2025 IEEE International Conference on Cyborg and Bionic Systems (CBS). doi: 10.1109/CBS65871.2025.11267686 (ieeexplore).
2024
- Yunlong Wang*, Lei Zhang*, Yuyang Tu†, Hui Zhang, Kaixin Bai, Zhaopeng Chen, Jianwei Zhang, ToolEENet: Tool Affordance 6D Pose Estimation, International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates. 10.48550/arXiv.2404.04193 (arxiv).
- Lei Zhang, Kaixin Bai, Qiang Li, Zhaopeng Chen, Jianwei Zhang, CG-CNN: A Collision-Aware Cable Grasping Method in Cluttered Environment, International Conference of Robotics and Automation (ICRA 2024), Yokohama, Japan. DOI: 10.1109/ICRA57147.2024.10610559 (ieeexplore), 10.48550/arXiv.2402.14498 (arxiv).
- Kaixin Bai, Lei Zhang, Zhaopeng Chen, Fang Wan, Jianwei Zhang, Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation, International Conference of Robotics and Automation (ICRA 2024), Yokohama, Japan. DOI: 10.1109/ICRA57147.2024.10611401 (ieeexplore), 10.48550/arXiv.2407.12449 (arxiv).
2023
- Lei Zhang, Jiacheng Pei, Kaixin Bai, Zhaopeng Chen, Jianwei Zhang, A Closed-Loop Multi-perspective Visual Servoing Approach with Reinforcement Learning, IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023).
2022
- Lei Zhang, Kaixin Bai, Zhaopeng Chen, Yunlei Shi, Jianwei Zhang, " Towards Precise Model-free Robotic Grasping with Sim-to-Real Transfer Learning", IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022), Xishuangbanna, China. Best Conference Paper Award Finalist.
- Kaixin Bai, Lei Zhang, Zhaopeng Chen, Jianwei Zhang, Learning of 6D Object Poses with Multi-task Point-wise Regression Deep Networks, IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022).
2021
- Yunlei Shi, Zhaopeng Chen, Lin Cong, Yansong Wu, Martin Craiu-Müller, Chengjie Yuan, Lei Zhang, Jianwei Zhang, " Maximizing the Use of Environmental Constraints: A Pushing-Based Hybrid Position/Force Assembly Skill for Contact-Rich Tasks", IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021).
