8 papers
Spark-0: Scaling Spatially Aligned Tactile Pretraining for Robot Dexterous Manipulation
Tianxing Chen, Wenwei Lin, Chuqiao Lyu +19
Generalist robot policies benefit from large-scale visual pretraining but often struggle with contact-rich dexterous manipulation, where force, compliance, and incipient slip are h…
XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment
XPolicyLab Community, Tianxing Chen, Yue Chen +67
Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data representations, and runtime interfaces, so that connecting N policies to M e…
Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levels
Xinyu Yang, Tianxing Chen, Honghao Su +38
Embodied intelligence integrates learned perception and decision making with real-time computation, control, and physical interaction. Because failures can cause immediate physical…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Tianxing Chen, Yue Chen, Zixuan Li +41
Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-hor…
SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps
Yanming Shao, Zanxin Chen, Wenwei Lin +5
Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynMan…
UFlow: Uncertainty-Aware Unsupervised Optical Flow Estimation
Xunpei Sun, Wenwei Lin, Yi Chang +1
Unsupervised optical flow methods typically lack reliable uncertainty estimation, limiting their robustness and interpretability. We propose UFlow, the first recurrent unsupe…
Exploring Surround-View Fisheye Camera 3D Object Detection
Changcai Li, Wenwei Lin, Zuoxun Hou +4
In this work, we explore the technical feasibility of implementing end-to-end 3D object detection (3DOD) with surround-view fisheye camera system. Specifically, we first investigat…
Learning Monocular Depth from Events via Egomotion Compensation
Haitao Meng, Chonghao Zhong, Sheng Tang +6
Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynam…