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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8">
<title>Zetao Cai's homepage</title>
<link rel="stylesheet" type="text/css" href="assets/style.css">
</head>
<body>
<!-- 侧边栏导航 -->
<div class="sidebar">
<img src="assets\myphoto.jpg" alt="My photo">
<!-- 图片下方的文本 -->
<div class="sidebar-text">
<h3>Zetao Cai</h3> <!-- 名字 -->
<p>(2003.08.31)</p>
<p>undergraduate student,</p>
<p>Zhejiang University,</p>
<p>major in Automation, minor in ACEE.</p>
</div>
<ul>
<li><a href="#Biography">• <strong>Biography</strong></a></li>
<li><a href="#Awards">• <strong>Awards</strong></a></li>
<li><a href="#Research">• <strong>Research</strong></a></li>
<li><a href="#Internship">• <strong>Internship</strong></a></li>
<li><a href="#Project">• <strong>Project</strong></a></li>
<li><a href="#Interests">• <strong>Interests</strong></a></li>
</ul>
</div>
<!-- 页面主体内容 -->
<div class="container">
<!--Welcome-->
<div class="main-title">Welcome to Zetao Cai's homepage!</div>
<!--Biography-->
<div class="Biography" id="Biography">
<div class="banner">
<h1 class="banner-title">Biography</h1>
</div>
<div class="text-banner">
<p>I am Zetao Cai, currently an undergraduate student at the College of Control Science and Engineering, where I am specializing in Automation
and also pursuing a minor through the Advanced Honor Class of Engineering Education (ACEE) at Chu Kochen Honors College.</p>
<p>My academic and research pursuits are deeply rooted in the field of robotics, specifically focusing on the design of robotic systems,
the integration of artificial intelligence with robotics, and the planning and control mechanisms within robotics.
Given my profound interest and dedication to the field of robotics, I am keen on advancing my studies and research in this area in the future.</p>
</div>
</div>
<!--Awards-->
<div class="Awards" id="Awards">
<div class="banner">
<h1 class="banner-title">Awards</h1>
</div>
<div class="text-banner">
<p><strong>2024</strong></p>
<p class="indent">• Chu Kochen Scholarship of Zhejiang University</p>
<p class="indent">• National Scholarship issued by Ministry of Education of the People's Republic of China</p>
<p class="indent">• First Class Scholarship of Zhejiang University</p>
<p class="indent">• Academic Excellence Award, Innovation Excellence Award</p>
<p class="indent">• Five-star volunteer of Zhejiang University</p>
<p><strong>2023</strong></p>
<p class="indent">• National Scholarship issued by Ministry of Education of the People's Republic of China</p>
<p class="indent">• First Class Scholarship of Zhejiang University</p>
<p class="indent">• Chunhui Scholarship of College of Control Science and Engineering, Zhejiang University</p>
<p class="indent">• 1st prize in the National College Students Intelligent Robot Creativity Competition</p>
<p class="indent">• 2nd prize in the National College Students Mathematical Modeling Competition in Zhejiang Province</p>
<p class="indent">• 2nd prize in Zhejiang University ”Zhongwang Cup” Undergraduates Engineering Practice and Innovation Ability Competition</p>
<p class="indent">• silver prize in Zhejiang University Dandelion Entrepreneurship Competition - Dandelion Challenge</p>
<p class="indent">• Academic Excellence Award, Social Work Excellence Award, Innovation Excellence Award</p>
<p class="indent">• Four-star volunteer of Zhejiang University</p>
<p><strong>2022</strong></p>
<p class="indent">• National Scholarship issued by Ministry of Education of the People's Republic of China</p>
<p class="indent">• First Class Scholarship of Zhejiang University</p>
<p class="indent">• Academic Excellence Award, Social Work Excellence Award, International Study Excellence Award</p>
</div>
</div>
<!--Research-->
<div class="Research" id="Research">
<div class="banner">
<h1 class="banner-title">Research</h1>
</div>
<div class="text-banner">
<p><strong>Dual Arm Manipulation </strong> </p>
<pre>
Aug. 2024 - Present
Advisor: Ocean Pang
</pre>
<p class="indent">• Designed new policy to address visual occlusion and synergy in dual arm manipulation.</p>
<p class="indent">• Improved 3d visual perception, predicting key frames for manipulation tasks based on Diffusion Policy,
increasing success rate by 10-30% compared to baseline (Peract2).</p>
<p><strong>Design of Ground-based Autonomous Mapping Unmanned Car System Based on Multi-Sensor Fusion</strong> </p>
<pre>
May. 2023 - Mar. 2024
Advisor: Prof.Yu Zhang(ZJU)
</pre>
<p class="indent">• Focusing on the problem that 3D reconstruction of large scenes is extremely dependent on manpower,
the system is designed for autonomous exploration and mapping of the scene.</p>
<p class="indent">• Implemented the SLAM using A-LOAM and DLO algorithms and deployed DLO to the real car.</p>
<p class="indent">• Implemented the self-exploration of the real car using TARE-Planner, and mapped 2,000 square meters
of open space in 4 minutes.</p>
<div class="image-container">
<img src="assets/p1.jpg" alt="Point cloud map of Shihushan Robotics Innovation Base" class="inline-image">
<video class="inline-media" autoplay muted loop controls>
<source src="assets/v1.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p><strong>Design of a Quadcopter Unmanned Aerial Vehicle with Passive Folding of Arms</strong> </p>
<pre>
June 2023 - Sept. 2023
Advisor: Prof.Fei Gao(ZJU)
</pre>
<p class="indent">• Modelled a passive folding UAV frame with Solidworks.</p>
<p class="indent">• Built a quadcopter drone with passive folding arms and realized remote control, reducing the diameter
of the passing area of the UAV in the air from 33 cm to 13 cm.</p>
<div class="image-container2">
<img src="assets/p2.jpg" alt="Point cloud map of Shihushan Robotics Innovation Base" class="inline-image">
<video class="inline-media" autoplay muted loop controls>
<source src="assets/v3.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<!--Internship-->
<div class="Internship" id="Internship">
<div class="banner">
<h1 class="banner-title">Internship</h1>
</div>
<div class="text-banner">
<p><strong>Summer Intern at Shanghai AI Lab, Shanghai </strong>, July 2024 - Present </p>
<p class="indent">• Research on imitation learning and dual arm manipulation.</p>
<p><strong>Summer Intern at FAST (Field autonomous System & compuTing) Lab, ZJU</strong>, Aug. 2023 </p>
<p class="indent">• Research on the construction of a new structural quadcopter UAV system.</p>
</div>
</div>
<!--Project-->
<div class="Project" id="Project">
<div class="banner">
<h1 class="banner-title">Project</h1>
</div>
<p><strong>Modeling, Control and Planning of Bipedal Robot</strong></p>
<pre>
Sept. 2023 - Juan. 2024
Advisor: Prof. Chunlin Zhou(ZJU)
</pre>
<p class="indent">• Completed the forward and inverse kinematics of the robot and simulated it in CoppeliaSim.</p>
<p class="indent">• Designed polynomial trajectory planning for the robot.</p>
<p class="indent">• Created a walking robot that can walk on the surface of a space station.</p>
<div class="video-container">
<video autoplay muted loop controls>
<source src="assets/v2.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p><strong>”Step Into Intelligence” - Multi-functional Smart Insole Design Based on Velostat</strong> </p>
<pre>
Sept. 2023 - Nov. 2023
Advisor: Prof. Yunqi Cao(ZJU)
</pre>
<p class="indent">• Used the flexible material Velostat to build a 12*6 sensor array, and used Arduino UNO and Bluetooth
to realize the acquisition and wireless transmission of foot pressure information.</p>
<p class="indent">• Implemented the extraction of gait information based on DBSCAN and FFT.</p>
<p class="indent">• Implemented the extraction and real-time display of gait information was realized based on center filtering, forward difference and heat map.</p>
<div class="video-container">
<video autoplay muted loop controls>
<source src="assets/v4.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
<p><strong>Planning, Simulation and Mapping of Wheeled Robot</strong> </p>
<pre>
Mar. 2023 - Jun. 2023
Advisor: Prof. Yue Wang(ZJU)
</pre>
<p class="indent">• Used kinematics in robot to simulate a wheeled car in Gazebo and Rviz.</p>
<p class="indent">• Completed the A*, DWA algorithm for global and local planning.</p>
<p class="indent">• Completed the ICP algorithm for point cloud alignment and robot localization.</p>
<div class="image-container">
<img src="assets/p3.png" alt="Mapping of Wheeled Robot" class="inline-image">
<img src="assets/p4.jpg" alt="Planning of Wheeled Robot" class="inline-image">
</div>
</div>
</div>
<!--亮点介绍-->
<div class="Interests" id="Interests">
<div class="banner">
<h1 class="banner-title">Interests</h1>
</div>
<div class="text-banner">
<p><strong>Autonomous Flying Robots Team—ZJUFAST</strong></p>
<div class="image-container">
<img src="assets/p5.png" alt="Autonomous Flying Robots Team—ZJUFAST" class="inline-image">
<img src="assets/p6.jpg" alt="Competition" class="inline-image">
</div>
<p>Realizing that many of my peers lacked opportunities for hands-on learning outside the
classroom, I planned and established a discipline competition team for quadrotor drone
competitions, aimed at helping more students engage with robotics technologies in
practical applications. My initiative received support from faculty, and together with
my classmates, we founded the <strong>Autonomous Flying Robots Team—ZJUFAST</strong> with the support of <strong>Prof. Fei Gao</strong>. I
dedicated my spare time to providing advanced training for team members in UAV
systems, dynamics modeling, planning and control. My efforts meant that I could pass
on my knowledge and experience to a broader audience.</p>
</div>
</div>
</div>
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</body>
</html>