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  • Beijing, China

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haskfja/README.md

Hi, I'm Yaoru Liu

I am a mathematics-trained robotics researcher interested in real-world robot learning, VR teleoperation, imitation learning, and high-frequency control. My work focuses on turning research ideas into reliable real-robot systems.

Featured projects

OpenArm VR Teleoperation Bridge

OpenArm bimanual object manipulation

I developed the real-time integration layer that converts third-party teleop_xr IK targets into filtered, rate-limited, and safety-monitored DaMiao MIT CAN commands for a physical 14-DOF OpenArm platform.

Code and documentation · Primary object-manipulation demo · Previous VR demo

UR5e VR Teleoperation

UR5e VR teleoperation

VR position/orientation mapping, MuJoCo motion validation, and real-time UR5e control using a 25 Hz VR input and a 125 Hz RTDE control loop.

Code and documentation · Full demo

ACT-based Grape Grasping

ACT grape grasping demo

Real-robot reproduction of an ACT-based imitation-learning pipeline for delicate grape grasping. This is presented as a video-only reproduction demo because the original training code and dataset are no longer available.

Watch the full demo

Technical focus

Python · PyTorch · MuJoCo · UR RTDE · CAN / CAN FD · VR teleoperation · Imitation learning

Contact

Beijing, China · yaoruliu@bjfu.edu.cn

Popular repositories Loading

  1. openarm-vr-teleop-bridge openarm-vr-teleop-bridge Public

    Real-time teleop_xr-to-CAN bridge for a 14-DOF OpenArm robot

    Python 1

  2. ur5e-vr-teleoperation ur5e-vr-teleoperation Public

    Real-robot UR5e VR teleoperation with 125 Hz RTDE control and MuJoCo validation

    Python

  3. haskfja haskfja Public

    Research projects and real-robot demos by Yaoru Liu