Qian Feng, M.Sc.

M.Sc. Qian Feng

Tel.: -
E-Mail: qian.feng@tum.de

Curriculum Vitae

Qian Feng is an external PhD student working at Agile Robots AG under supervison of Prof. Dr.-Ing. habil. Alois Christian Knoll, started from 2021. He graduated with the Master of Science degree in Mechatronik and Info. Tech. from the Technische Universität München, Germany. He received the Bachelor of Engineering degree in Mechatronics from Zhejiang University, Hangzhou, China.

His research focuses on dexterous grasping and manipulation, imitation learning, sim2real, tactile sensing.

Offered Thesis

Open theses:

I provide open theses with topics of:

“Vision Foundation Model based Few-shot Dexterous Grasping”
“Sim2real transfer with Scaling up Diffusion/Flow matching Policies for Dexterous Manipulation”.
“Humanoid Robot dual-arm dexterous grasping”.

Supervised Research Practice (Forschungspraktikum)

[WS20]: Gengyuan Zhang- "Automatic Camera Calibration for Robotic Grasping"
[SS21]: Yansong Wu- "Learning based Robotic Assembly using Force/Tactile Feedback"
[SS22]: Yuhan Liu- "Force-Controlled Robot Assembly Skill Development"
[WS23]: David S. Martinez- "Enhancing Deep Generative Robotic Grasping: Integrating the Robotiq-3F Gripper with CVAE and CGAN Models"

Supervised theses:

[MT | WS20]: Hongxu Liu- "3D Object Shape Prediction from a Single Viewpoint"
[MT | WS20]: Vincent Mayer - "Sim2Real Grasping with the DLR-HIT Hand II"
[MT | SS20]: Yikai Xu - "Heuristic Search Path Planning with Reachability Map"
[MT | SS21]: Chengjie Yuan- "A Sim-to-Real Learning-Based Approach to Robot Assembly Tasks"
[MT | WS22]: Yannick Burkhardt- "Visual 3D Control for Dynamic Robotic Grasp Execution"
[MT | WS23]: Deniz Bekleyis Seven- "Reinforcement Learning Based Object Manipulation with Multi-Fingered Robotic Hand"
[MT | SS24]: Hang Li- "Language guided robot manipulation skills learning via diffusion model"
[MT | WS24]: David S. Martinez- “ Neural Feature Fields for Language-based Dexterous Robotic Manipulation”

Ongoing theses:

[MT | WS24]: Leyong Loh- "Multimodal Latent Diffusion Model for Task-Oriented Grasping“
[MT | SS25]: Zeyu Xu- “Scalable Human-like Robotic Dexterous Grasp Synthesis”
[MT | SS25]: Jiaqi Mo- "GraspFusion: Fusing RL-Synthesized Grasps into Diffusion Policy for Dexterous Manipulation

Media

Publications

2025

Feng, Qian; Knoll, Alois; Lema, David S Martinez; Chen, Zhaopeng; Feng, Jianxiang: LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 mehr… BibTeX
Hang Li, Qian Feng, Zhi Zheng, Jianxiang Feng, Alois Knoll: Language-Guided Object-Centric Diffusion Policy for Collision-Aware Robotic Manipulation, 2025 mehr… BibTeX Volltext ( DOI )
Li, Hang; Feng, Qian; Zheng, Zhi; Feng, Jianxiang; Chen, Zhaopeng; Knoll, Alois: Language-guided object-centric diffusion policy for generalizable and collision-aware manipulation. 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025 mehr… BibTeX
Li, Hang; Feng, Qian; Zheng, Zhi; Feng, Jianxiang; Knoll, Alois: Language-guided object-centric diffusion policy for collision-aware robotic manipulation. International Conference on Robotics and Automation (ICRA), 2025 mehr… BibTeX Volltext ( DOI )
Qian Feng, David S. Martinez Lema, Jianxiang Feng, Zhaopeng Chen, Alois Knoll: LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation, 2025 mehr… BibTeX

2024

Feng, Qian; Feng, Jianxiang; Chen, Zhaopeng; Triebel, Rudolph; Knoll, Alois: FFHFlow: a flow-based variational approach for multi-fingered grasp synthesis in real time. arXiv, 2024 mehr… BibTeX
Feng, Qian; Feng, Jianxiang; Chen, Zhaopeng; Triebel, Rudolph; Knoll, Alois: Ffhflow: A flow-based variational approach for learning diverse dexterous grasps with shape-aware introspection. arXiv e-prints, 2024, arXiv--2407 mehr… BibTeX Volltext ( DOI )
Feng, Qian; Feng, Jianxiang; Chen, Zhaopeng; Triebel, Rudolph; Knoll, Alois: FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference. arXiv preprint arXiv:2407.15161, 2024 mehr… BibTeX Volltext ( DOI )
Feng, Qian; Lema, David S Martinez; Malmir, Mohammadhossein; Li, Hang; Feng, Jianxiang; Chen, Zhaopeng; Knoll, Alois: Dexgangrasp: Dexterous generative adversarial grasping synthesis for task-oriented manipulation. 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024 mehr… BibTeX
Li, Hang; Feng, Qian; Zheng, Zhi; Feng, Jianxiang; Chen, Zhaopeng; Knoll, Alois: Language-guided object-centric diffusion policy for generalizable and collision-aware robotic manipulation. arXiv preprint arXiv:2407.00451, 2024 mehr… BibTeX Volltext ( DOI )
Li, Hang; Feng, Qian; Zheng, Zhi; Feng, Jianxiang; Knoll, Alois: Generalizable robotic manipulation: Object-centric diffusion policy with language guidance. Workshop on Embodiment-Aware Robot Learning, 2024 mehr… BibTeX
Qian Feng, David S Martinez Lema, Mohammadhossein Malmir, Hang Li, Jianxiang Feng, Zhaopeng Chen, Alois Knoll: DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation, 2024 mehr… BibTeX Volltext ( DOI )
Qian Feng, Jianxiang Feng, Zhaopeng Chen, Rudolph Triebel, Alois Knoll: FFHFlow: A Flow-based Variational Approach for Multi-fingered Grasp Synthesis in Real Time, 2024 mehr… BibTeX Volltext ( DOI )
Yannick Burkhardt, Qian Feng, Karan Sharma, Zhaopeng Chen, Alois Knoll: Multi-fingered Dynamic Grasping for Unknown Objects, 2024 mehr… BibTeX Volltext ( DOI )
Zheng, Zhi; Feng, Qian; Li, Hang; Knoll, Alois; Feng, Jianxiang: Evaluating Uncertainty-based Failure Detection for Closed-Loop LLM Planners. , 2024 mehr… BibTeX Volltext ( DOI )
Zhi Zheng, Qian Feng, Hang Li, Alois Knoll, Jianxiang Feng: Evaluating Uncertainty-based Failure Detection for Closed-Loop LLM Planners. IEEE 2024 International Conference on Robotics and Automation (ICRA), 2024Workshop Back to the Future: Robot Learning Going Probabilistic mehr… BibTeX

2023

Burkhardt, Yannick; Feng, Qian; Feng, Jianxiang; Sharma, Karan; Chen, Zhaopeng; Knoll, Alois: Multi-fingered Dynamic Grasping for Unknown Objects. , 2023 mehr… BibTeX Volltext ( DOI )
Burkhardt, Yannick; Feng, Qian; Sharma, Karan; Chen, Zhaopeng; Knoll, A: Dynamic grasping of unknown objects with a multi-fingered hand. arXiv preprint arXiv:2310.17923, 2023 mehr… BibTeX

2022

Cao, Hu; Chen, Guang; Li, Zhijun; Feng, Qian; Lin, Jianjie; Knoll, Alois: Efficient Grasp Detection Network With Gaussian-Based Grasp Representation for Robotic Manipulation. IEEE/ASME Transactions on Mechatronics, 2022, 1-11 mehr… BibTeX Volltext ( DOI )
Qian Feng, Vincent Mayer, Jun Deng, Yunlei Shi, Zhaopeng Chen, Alois Knoll: FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time. 2022 International Conference on Robotics and Automation (ICRA), 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Yuan, Chengjie; Shi, Yunlei; Feng, Qian; Chang, Chunyang; Chen, Zhaopeng; Knoll, Alois C.; Zhang, Jianwei: Sim-to-Real Transfer of Robotic Assembly with Visual Inputs Using CycleGAN and Force Control. CoRR abs/2208.14104, 2022 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2021

Deng, Jun; Gao, Chunhui; Feng, Qian; Xu, Xinzhou; Chen, Zhaopeng: Adaptive Generalized Cross-Entropy Loss for Sound Event Classification with Noisy Labels. 2021 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Shi, Yunlei; Chen, Zhaopeng; Liu, Hongxu; Riedel, Sebastian; Gao, Chunhui; Feng, Qian; Deng, Jun; Zhang, Jianwei: Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)
Shi, Yunlei; Chen, Zhaopeng; Wu, Yansong; Henkel, Dimitri; Riedel, Sebastian; Liu, Hongxu; Feng, Qian; Zhang, Jianwei: Combining Learning from Demonstration with Learning by Exploration to Facilitate Contact-Rich Tasks. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)

2020

Qian Feng, Zhaopeng Chen, Jun Deng, Chunhui Gao, Jianwei Zhang, Alois Knoll: Center-of-Mass-based Robust Grasp Planning for Unknown Objects Using Tactile-Visual Sensors. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 mehr… BibTeX Volltext ( DOI ) Volltext (mediaTUM)