Research

Publication · 2025

Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections

Xiaomeng Xu*, Yifan Hou*, Chendong Xin, Zeyi Liu, and Shuran Song

NeurIPS 2025 · Human-to-Robot Workshop at CoRL 2025, Best Paper

TL;DR: A compliant intervention interface and residual policy enable robots to learn precise, contact-rich manipulation from minimal human correction data.

Publication · 2025

Analyzing Key Objectives in Human-to-Robot Retargeting for Dexterous Manipulation

Chendong Xin*, Mingrui Yu*, Yongpeng Jiang, Zhefeng Zhang, and Xiang Li

IEEE Robotics and Automation Practice, 2025 · ICRA 2025 Workshop on Handy Moves

Website·Paper·Code

TL;DR: A unified formulation and real-world ablation study reveal which objectives matter most when retargeting human hand motion to robot hands.

Competition & Workshop Paper · 2025

Hybrid Gripper and Adaptive Strategy for Robust Grasping in Clutter: RGMC Champion Solution

Shihefeng Wang*, Chendong Xin*, Zhefeng Zhang, Gongrui Ma, and Xiang Li

1st Place, ICRA 2025 RGMC Picking-in-Clutter Track · IROS 2025 Workshop on Benchmarking via Competitions in Robotic Grasping and Manipulation

Workshop Paper·Competition

TL;DR: A hybrid end effector and adaptive decluttering strategy form a robust perception-to-execution system for picking objects from dense clutter.