Robotic Arm Simulation Engine — Tongji × Siemens Industry 4.0 Lab

Thu, 01 Feb 2024 00:00:00 +0000

Three.js real-time robotic arm visualization — adjusting slider parameters updates the 3D model in real time.

A joint research project between Tongji University’s Sino-German Industry 4.0 Lab and Siemens, replacing legacy particle swarm optimization (PSO) with deep reinforcement learning for higher-precision robotic arm control.

Technical work:

DQN agent for joint trajectory optimization, replacing PSO baseline
Three.js 3D visualization — interactive slider-based parameter control, real-time model updates, importable industrial equipment scenes
SITP project certification completed

Key insight: After exposure to NVIDIA Isaac Sim, identified that the core need is not model import/visualization but custom algorithm interfaces and GPU-accelerated physics simulation — pivoted research direction accordingly.

Affiliations: Tongji University Sino-German Industry 4.0 Lab × Siemens | 2023.11 – 2024.02

机械臂仿真引擎 — 同济×西门子工业 4.0 实验室

Thu, 01 Feb 2024 00:00:00 +0000

引擎演示视频 · Bilibili Three.js 机械臂仿真引擎实时演示 Bilibili

Three.js 实时机械臂可视化 — 调节滑动条旋转参数，模型相应变化。

同济大学中德工业 4.0 实验室与西门子联合研究项目，用深度强化学习替代传统粒子群优化（PSO），实现更高精度的机械臂控制。

技术工作：

DQN 智能体 用于关节轨迹优化，替代 PSO 基线
Three.js 3D 可视化 — 滑动条交互式参数控制，实时模型更新，支持导入工业设备场景
SITP 项目结项认证 已完成

关键洞察： 接触 NVIDIA Isaac Sim 后，识别到核心需求并非模型导入/可视化，而是自定义算法接口与 GPU 加速物理仿真 — 据此调整了研究方向。

归属： 同济大学中德工业 4.0 实验室 × 西门子 | 2023.11 – 2024.02

Reinforcement Learning | Liu Yue — Embodied AI Researcher

Robotic Arm Simulation Engine — Tongji × Siemens Industry 4.0 Lab

机械臂仿真引擎 — 同济×西门子工业 4.0 实验室