6 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…
DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation
Yan Qin, Yue Chen, Wenwei Lin +9
Learning predictive models of contact-rich dexterous manipulation requires dense tactile interaction, but such data are costly to scale on real robots and remain tied to embodiment…
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…
RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
Tianxing Chen, Yuran Wang, Mingleyang Li +16
Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle…