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171            <a href="/#about-me">Homepage</a>
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175              <a href="/#about-me">About Me</a>
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220
221  <div class="author__avatar">
222    <img src="/images/avatar.jpg" class="author__avatar" alt="Xiangyu Chen(陈翔宇)">
223  </div>
224
225  <div class="author__content">
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230      <h3 class="author__name">Xiangyu Chen<br>(陈翔宇)</h3>
231    
232    <p class="author__bio">Mphil student at HKUST(GZ)</p>
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234
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242        <li><i class="fa fa-fw fa-map-marker" aria-hidden="true"></i> Guangzhou, China</li>
243      
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247        <li><a href="mailto:[email protected]"><i class="fas fa-fw fa-envelope" aria-hidden="true"></i> Email</a></li>
248      
249      <li><a href="/images/my_wechat.png"><i class="fab fa-fw fa-weixin" aria-hidden="true"></i> WeChat</a></li>
250      <li><a href="/CV/Xiangyu_Chen_260922.pdf"><i class="fas fa-fw fa-file-pdf" aria-hidden="true"></i> CV</a></li>
251      
252        <li><a href="https://scholar.google.com/citations?user=nGnEAQYAAAAJ&hl=zh-CN&oi=sra"><i class="fas fa-fw fa-graduation-cap"></i> Google Scholar</a></li>
253      
254      
255        <li><a href="https://github.com/ChangerC77"><i class="fab fa-fw fa-github" aria-hidden="true"></i> GitHub</a></li>
256      
257      
258        <li><a href="https://space.bilibili.com/65857029/video"><i class="fas fa-fw fa-play-circle" aria-hidden="true"></i> Bilibili</a></li>
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349    
350      <article class="page" itemscope itemtype="http://schema.org/CreativeWork">
351        <meta itemprop="headline" content="">
352        <div class="page__inner-wrap">
353          <section class="page__content" itemprop="text">
354            <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.0.0/css/all.min.css" />
355
356<p><span class="anchor" id="about-me"></span></p>
357
358<p>I’m <span class="accent-text">Xiangyu CHEN</span>, a final-year MPhil student at the <a href="https://hclab-gz.github.io/">Humanoid Computing Lab(HCLab)</a>, at <a href="https://www.hkust-gz.edu.cn/academics/hubs-and-thrust-areas/systems-hub/robotics-and-autonomous-systems/">Thrust of Robotics And Autonomous Systems</a> in <a href="https://www.hkust-gz.edu.cn/zh/?variant=zh-cn"><strong>the Hong Kong University of Science and Technology (Guangzhou)</strong></a>, where I am co-advised by <a href="https://scholar.google.com/citations?user=Mu__bJEAAAAJ&amp;hl=en/"><strong>Prof. Renjing Xu</strong></a> and <a href="https://sites.google.com/view/haoangli/homepage"><strong>Prof. Haoang Li</strong></a>. Before that, I was a research intern at <strong>TARS Robotics</strong> and <a href="https://air.tsinghua.edu.cn/en/"><strong>Institute for AI Industry Research (AIR), Tsinghua University</strong></a>, co-advised by <a href="https://air.tsinghua.edu.cn/en/info/1046/1621.htm"><strong>Prof. Yilun Chen</strong></a> and <a href="https://wenchaoding.github.io/personal/index.html"><strong>Prof. Wenchao Ding</strong></a>. Earlier in my academic journey, I obtained <span class="primary-gradient-text">First Class Honour Bachelor’s degree</span> in Electrical and Electronic Engineering from <a href="https://www.ljmu.ac.uk/"><strong>Liverpool John Moores University</strong></a> in the UK.</p>
359
360<div class="quote-accent">I am actively seeking
361<span class="primary-gradient-text">internship opportunities</span> and <span class="primary-gradient-text">2027 Fall PhD positions in USA universities</span>.
362</div>
363
364<div class="highlight-blocks">
365  <div class="highlight-block floating-card">
366    <h3><i class="fas fa-robot"></i> Research Interests</h3>
367    <ul class="interest-tags">
368      <li>UMI/EGO-style Data Collection</li>
369      <li>Tactile</li>
370      <li>Dexterous Manipulation</li>
371      <li>VLA</li>
372      <li>Mapping and Navigation</li>
373    </ul>
374  </div>
375</div>
376<p><span class="anchor" id="news"></span></p>
377
378<h1 id="-news"><i class="fas fa-fire"></i> News</h1>
379<ul class="about-section-list">
380  <li><em>2026.08</em>: I am honored to be invited as a <span class="accent-text">guest</span> to join the <a href="https://mp.weixin.qq.com/s/MNDzyBpnrSn6T2GSoymPPg" class="accent-text accent-text-link">WRC 2026 RoboParty Talk</a>.</li>
381  <li><em>2026.06</em>: My team won the <span class="accent-text">First Place</span> 🏆 in the <a href="https://wbcdcompetition.github.io/" class="accent-text accent-text-link">ICRA 2026 What Bimanuals Can Do (WBCD) Challenge (Vienna)</a>.</li>
382  <li><em>2026.04</em>: My team won the <span class="accent-text">Third Place</span> 🥉 &amp; <span class="accent-text">Robot Warrior Speed Award</span>, and the <span class="accent-text">Robot Warrior Intelligent Mobility Award</span> 🏆 in the <a href="https://kw.beijing.gov.cn/xwdt/kcyx/kcyxkchd/202604/t20260421_4598849.html" class="accent-text accent-text-link">Robot Warrior Challenge 2026</a>.</li>
383  <li><em>2025.11</em>: I am honored to be a <span class="accent-text">co-organizer</span> for <a href="https://wbcdcompetition.github.io/" class="accent-text accent-text-link">ICRA 2026 What Bimanuals Can Do (WBCD) Challenge</a>.</li>
384  <li><em>2025.09</em>: My team won the <span class="accent-text">First Place</span> 🏆 in the <span class="accent-text">CVPR 2025 Embodied AI Workshop</span>.</li>
385  <li><em>2025.05</em>: My team won the <span class="accent-text">First Place</span> 🏆 in the <a href="https://wbcdcompetition.github.io/2025/index.html" class="accent-text accent-text-link">ICRA 2025 What Bimanuals Can Do (WBCD) Challenge</a>.</li>
386  <li><em>2025.03</em>: My team won the <span class="accent-text">Champion</span> 🏆 title in <a href="https://ai-workshops.github.io/maniskill-vitac-challenge-2025/" class="accent-text accent-text-link">ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing</a>.</li>
387  <li><em>2024.07</em>: GaussianGrasper was accepted to <span class="accent-text">RA-L</span>.</li>
388  <li><em>2024.02</em>: Block-Map-Based Localization in Large-Scale Environment was accepted to <span class="accent-text">ICRA 2024</span>.</li>
389</ul>
390
391<p><span class="anchor" id="education"></span></p>
392
393<h1 id="-education"><i class="fas fa-graduation-cap"></i> Education</h1>
394<ul class="about-section-list education-list">
395  <li class="education-item education-item-with-logo">
396    <div class="education-entry-with-logo">
397      <div class="education-logo-shell">
398        <img class="education-school-logo education-school-logo-wide" src="images/hkust-gz.jpg" alt="HKUST(GZ) logo" />
399      </div>
400      <div class="education-content">
401        <div class="education-header">
402          <span class="education-school primary-gradient-text">the Hong Kong University of Science and Technology (Guangzhou)</span>
403          <span class="education-date education-date-inline"><em>2025.09 - present</em></span>
404        </div>
405        <span class="education-degree">Mphil in ROAS Thrust</span>
406      </div>
407    </div>
408  </li>
409  <li class="education-item education-item-with-logo">
410    <div class="education-entry-with-logo">
411      <div class="education-logo-shell">
412        <img class="education-school-logo education-school-logo-square" src="images/ljmu.jpg" alt="Liverpool John Moores University logo" />
413      </div>
414      <div class="education-content">
415        <div class="education-header">
416          <span class="education-school primary-gradient-text">Liverpool John Moores University, UK</span>
417          <span class="education-date education-date-inline"><em>2019 - 2023</em></span>
418        </div>
419        <span class="education-degree">B.E. in Electrical and Electronic Engineering</span>
420      </div>
421    </div>
422  </li>
423</ul>
424
425<p><span class="anchor" id="research-experience"></span>
426<span class="anchor" id="internships"></span></p>
427
428<h1 id="-research-experience"><i class="fas fa-flask"></i> Research Experience</h1>
429<ul class="about-section-list experience-list">
430  <li class="education-item education-item-with-logo">
431    <div class="education-entry-with-logo">
432      <div class="education-logo-shell">
433        <img class="education-school-logo education-school-logo-square" src="images/brainco.png" alt="BrainCo Technology logo" />
434      </div>
435      <div class="education-content">
436        <div class="education-header">
437          <span class="education-school primary-gradient-text">BrainCo Technology Co., Ltd.</span>
438          <span class="education-date education-date-inline"><em>2025.12 - 2026.07</em></span>
439        </div>
440        <span class="education-degree">Research Intern</span>
441      </div>
442    </div>
443  </li>
444  <li class="education-item education-item-with-logo">
445    <div class="education-entry-with-logo">
446      <div class="education-logo-shell">
447        <img class="education-school-logo education-school-logo-square" src="images/tars.png" alt="TARS Technology logo" />
448      </div>
449      <div class="education-content">
450        <div class="education-header">
451          <span class="education-school primary-gradient-text">TARS Technology (Shanghai) Co., LTD.</span>
452          <span class="education-date education-date-inline"><em>2025.03 - 2025.12</em></span>
453        </div>
454        <span class="education-degree">Research Intern, supervised by <a href="https://air.tsinghua.edu.cn/en/info/1046/1621.htm">Prof. Yilun Chen</a> and <a href="https://wenchaoding.github.io/personal/index.html">Prof. Wenchao Ding</a>.</span>
455      </div>
456    </div>
457  </li>
458  <li class="education-item education-item-with-logo">
459    <div class="education-entry-with-logo">
460      <div class="education-logo-shell">
461        <img class="education-school-logo education-school-logo-wide" src="images/AIR.png" alt="AIR Tsinghua logo" />
462      </div>
463      <div class="education-content">
464        <div class="education-header">
465          <span class="education-school primary-gradient-text">Institute for AI Industry Research (AIR), Tsinghua University</span>
466          <span class="education-date education-date-inline"><em>2021.06 - 2023.12</em></span>
467        </div>
468        <span class="education-degree">Research Intern, supervised by <a href="https://air.tsinghua.edu.cn/en/info/1046/1621.htm">Prof. Yilun Chen</a> and <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Prof. Guyue Zhou</a>.</span>
469      </div>
470    </div>
471  </li>
472  <li class="education-item education-item-with-logo">
473    <div class="education-entry-with-logo">
474      <div class="education-logo-shell">
475        <img class="education-school-logo education-school-logo-wide" src="images/cityU.png" alt="City University of Hong Kong logo" />
476      </div>
477      <div class="education-content">
478        <div class="education-header">
479          <span class="education-school primary-gradient-text">GAIRLAB, City University of Hong Kong (CityU)</span>
480          <span class="education-date education-date-inline"><em>2024.03 - 2024.06</em></span>
481        </div>
482        <span class="education-degree">Research Assistant, supervised by <a href="https://scholars.cityu.edu.hk/en/persons/pengyin">Prof. Peng Yin</a>.</span>
483      </div>
484    </div>
485  </li>
486  <li class="education-item education-item-with-logo">
487    <div class="education-entry-with-logo">
488      <div class="education-logo-shell">
489        <img class="education-school-logo education-school-logo-wide" src="images/EncoSmart.png" alt="EncoSmart Technology logo" />
490      </div>
491      <div class="education-content">
492        <div class="education-header">
493          <span class="education-school primary-gradient-text">EncoSmart Technology (Beijing) Co., LTD.</span>
494          <span class="education-date education-date-inline"><em>2023.11 - 2024.02, 2024.07 - 2024.11</em></span>
495        </div>
496        <span class="education-degree">Research Intern</span>
497      </div>
498    </div>
499  </li>
500  <li class="education-item education-item-with-logo">
501  <div class="education-entry-with-logo">
502      <div class="education-logo-shell">
503        <img class="education-school-logo education-school-logo-wide" src="images/ARX.png" alt="ARX 方舟无限 logo" />
504      </div>
505      <div class="education-content">
506        <div class="education-header">
507          <span class="education-school primary-gradient-text">ARX Fangzhouwuxian (Beijing) Co., LTD.</span>
508          <span class="education-date education-date-inline"><em>2021.08 - 2023.02</em></span>
509        </div>
510        <span class="education-degree">ex-Founding Team Members</span>
511      </div>
512    </div>
513  </li>
514</ul>
515
516<p><span class="anchor" id="publications"></span></p>
517
518<h1 id="-publications"><i class="fas fa-file-alt"></i> Publications</h1>
519<p>(<sup>&dagger;</sup>: corresponding author; <sup>*</sup>: equal contribution)</p>
520
521<div class="paper-box floating-card">
522  <div class="paper-box-image">
523    <div class="badge">arXiv 2027</div>
524    <img src="images/LumiBench.png" alt="LumiBench teaser" width="100%" />
525  </div>
526  <div class="paper-box-text">
527    <h3>LumiBench: Benchmarking Illumination Robustness in Robotic Manipulation Policies</h3>
528    <div class="authors">Yiman Pang<sup>*</sup>, Haoming Gu<sup>*</sup>, <a href="https://victor-roboneo.github.io/">Wenjie Zhang</a>, Yu Yan, <strong>Xiangyu Chen</strong>, Mingqian Zhou, Zhengtu Liang, Boyang Cai, Tao Wang, <a href="https://scholar.google.com/citations?hl=en&amp;user=Mu__bJEAAAAJ&amp;view_op=list_works&amp;sortby=pubdate">Renjing Xu</a></div>
529    <div class="venue"><span class="accent-text">arXiv preprint</span>, 2027</div>
530    <p>We propose LumiBench, a physical benchmark for evaluating the illumination robustness of robotic manipulation policies across varying lighting conditions.</p>
531    <div class="links">
532      <a href="https://pangym666.github.io/LumiBench/" class="btn-accent"><i class="fas fa-globe"></i> Homepage</a>
533    </div>
534  </div>
535</div>
536
537<div class="paper-box floating-card">
538  <div class="paper-box-image">
539    <div class="badge">arXiv 2027</div>
540    <img src="images/AAAI_2026.gif" alt="DreamTrajectory teaser" width="100%" />
541  </div>
542  <div class="paper-box-text">
543    <h3>DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation</h3>
544    <div class="authors"><a href="https://openreview.net/profile?id=~Zheng_Yang8">Zheng Yang</a><sup>*</sup>, <a href="https://victor-roboneo.github.io/">Wenjie Zhang</a><sup>*</sup>, <strong>Xiangyu Chen</strong>, <a href="https://songwxuan.github.io/">Wenxuan Song</a>, Xianpeng Wang, Yihang Kang, Wen Chen, Lujia Wang, <a href="https://scholar.google.com/citations?hl=en&amp;user=Mu__bJEAAAAJ&amp;view_op=list_works&amp;sortby=pubdate">Renjing Xu</a>
544, <a href="https://facultyprofiles.hkust-gz.edu.cn/faculty-personal-page/CHU-Xiaowen/xwchu">Xiaowen Chu</a></div>
545    <div class="venue"><span class="accent-text">arXiv preprint</span>, 2027</div>
546    <p>We propose DreamTrajectory, a trajectory-guided action generation framework with world model alignment for mobile manipulation.</p>
547    <div class="links">
548      <a href="https://victor-roboneo.github.io/DreamTrajectory/" class="btn-accent"><i class="fas fa-globe"></i> Homepage</a>
549      <a href="https://arxiv.org/abs/2608.01381" class="btn-accent"><i class="fas fa-file-alt"></i> Paper</a>
550    </div>
551  </div>
552</div>
553
554<div class="paper-box floating-card">
555  <div class="paper-box-image">
556    <div class="badge">arXiv 2027</div>
557    <video class="publication-cover-video" autoplay="" loop="" muted="" playsinline="" preload="metadata" aria-label="RoboNVS Scene 1 comparison video">
558      <source src="images/robonvs_scene1_ours.mp4" type="video/mp4" />
559    </video>
560  </div>
561  <div class="paper-box-text">
562    <h3>Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?</h3>
563    <div class="authors">Boyang Cai, <a href="https://kolakivy.github.io">Qiwei Liang</a>, Jiawei Li, Shihang Weng, Zhaoxin Zhang, <a href="https://www.lintao.online">Tao Lin</a>, <strong>Xiangyu Chen</strong>, <a href="https://victor-roboneo.github.io/">Wenjie Zhang</a>, Jiaqi Mao, <a href="https://wesleyxu224.github.io">Weisheng Xu</a>, Bin Yang, Jiaming Liang, <a href="https://junhaocai27.github.io">Junhao Cai</a>, <a href="https://scholar.google.com/citations?hl=en&amp;user=Mu__bJEAAAAJ&amp;view_op=list_works&amp;sortby=pubdate">Renjing Xu</a></div>
564    <div class="venue"><span class="accent-text">arXiv preprint</span>, 2027</div>
565    <p>We study how multi-view demonstrations improve robot manipulation beyond viewpoint robustness, and propose RoboNVS, a geometry-aware framework that synthesizes novel-view demonstrations from monocular videos.</p>
566    <div class="links">
567      <a href="https://youngyng.github.io/RoboNVS.github.io/" class="btn-accent"><i class="fas fa-globe"></i> Homepage</a>
568      <a href="https://arxiv.org/abs/2603.26757" class="btn-accent"><i class="fas fa-file-alt"></i> Paper</a>
569      <a href="https://github.com/YoungYNG/RoboNVS" class="btn-accent"><i class="fab fa-github"></i> Code</a>
570    </div>
571  </div>
572</div>
573
574<div class="paper-box floating-card">
575  <div class="paper-box-image">
576    <div class="badge">MM 2025</div>
577    <img src="images/robogem_teaser.svg" alt="RoboGEM teaser" width="100%" />
578  </div>
579  <div class="paper-box-text">
580    <h3>RoboGEM: Learning Language-guided Robotic Manipulation via Generalizable and Efficient Feature Distillation</h3>
581    <div class="authors">Chunzheng Wang, <a href="https://mrsecant.github.io/">Yuhang Zheng</a>, <strong>Xiangyu Chen</strong>, <a href="https://ericlee0224.github.io/">Weize Li</a>, <a href="https://openreview.net/profile?id=%7ESongen_Gu2">Songen Gu</a>, <a href="https://scholar.google.com/citations?user=anGhGdYAAAAJ&amp;hl=zh-CN">Yupeng Zheng</a></div>
582    <div class="venue">ACM International Conference on Multimedia (MM) 2025</div>
583    <p>RoboSoft'25 Workshop (<span class="accent-text">Oral</span>), <span class="accent-text">Best Paper Finalist</span>.</p>
584    <div class="links">
585      <a href="certificate/ACM MM 2025 Workshop Best Paper Award.jpg" class="btn-accent"><i class="fas fa-award"></i> Certificate</a>
586    </div>
587  </div>
588</div>
589
590<div class="paper-box floating-card">
591  <div class="paper-box-image">
592    <div class="badge">RA-L 2024</div>
593    <img src="images/gaussiangrasper.gif" alt="GaussianGrasper demo" width="100%" />
594  </div>
595  <div class="paper-box-text">
596    <h3>GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping</h3>
597    <div class="authors"><a href="https://mrsecant.github.io/">Yuhang Zheng</a>, <strong>Xiangyu Chen</strong>, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, <a href="https://philipflyg.github.io/">Pengfei Li</a>, Chengliang Zhong, Zengmao Wang, Lina Liu, Chao Yang, Dawei Wang, Zhen Chen, <a href="https://www.xxlong.site/">Xiaoxiao Long<sup>&dagger;</sup></a>, Meiqing Wang<sup>&dagger;</sup></div>
598    <div class="venue"><span class="accent-text">IEEE Robotics and Automation Letters (RA-L)</span>, 2024</div>
599    <p>We introduced GaussianGrasper, a robot grasping system built on a 3D Gaussian field with open-vocabulary semantics and accurate geometry for fast, open-world language-guided grasping.</p>
600    <div class="links">
601      <a href="https://mrsecant.github.io/GaussianGrasper/" class="btn-accent"><i class="fas fa-globe"></i> Homepage</a>
602      <a href="https://arxiv.org/abs/2403.09637" class="btn-accent"><i class="fas fa-file-alt"></i> Paper</a>
603      <a href="https://github.com/MrSecant/GaussianGrasper" class="btn-accent"><i class="fab fa-github"></i> Code</a>
604    </div>
605  </div>
606</div>
607
608<div class="paper-box floating-card">
609  <div class="paper-box-image">
610    <div class="badge">ICRA 2024</div>
611    <img src="images/block-map-based-localization.gif" alt="Block-Map-Based Localization demo" width="100%" />
612  </div>
613  <div class="paper-box-text">
614    <h3>Block-Map-Based Localization in Large-Scale Environment</h3>
615    <div class="authors"><a href="https://yixfeng.github.io/">Yixiao Feng</a>, Zhou Jiang, Yongliang Shi, Yunlong Feng, <strong>Xiangyu Chen</strong>, Hao Zhao, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
616    <div class="venue"><span class="accent-text">IEEE International Conference on Robotics and Automation (ICRA)</span>, 2024</div>
617    <p>We proposed a localization system based on Block Maps to reduce the computational load caused by maintaining large-scale maps.</p>
618    <div class="links">
619      <a href="https://www.youtube.com/watch?v=jJhs0jK-uSI" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
620      <a href="https://arxiv.org/pdf/2404.18192" class="btn-accent"><i class="fas fa-file-alt"></i> Paper</a>
621      <a href="https://github.com/YixFeng/Block-Map-Based-Localization" class="btn-accent"><i class="fab fa-github"></i> Code</a>
622    </div>
623  </div>
624</div>
625
626<p><span class="anchor" id="competitions"></span></p>
627
628<h1 id="-competitions"><i class="fas fa-trophy"></i> Competitions</h1>
629<div class="paper-box floating-card paper-box--competition">
630  <div class="paper-box-image">
631    <div class="badge">ICRA 2026</div>
632    <img src="images/2026_WBCD_Vienna.gif" alt="WBCD challenge demo" />
633  </div>
634  <div class="paper-box-text">
635    <h3>
635<a href="https://wbcdcompetition.github.io/">ICRA 2026 What Bimanuals Can Do (WBCD) Challenge (Vienna)</a></h3>
636    <p class="comp-track"><strong>Track 4 Deformable Manipulation</strong></p>
637    <p class="comp-role">Team Leader: <a href="https://changerc77.github.io/"><strong>Xiangyu Chen</strong></a></p>
638    <p class="comp-role">Supervisor: <a href="https://scholar.google.com/citations?hl=en&amp;user=Mu__bJEAAAAJ&amp;view_op=list_works&amp;sortby=pubdate"><strong>Prof. Renjing Xu</strong></a></p>
639    <p class="comp-role">Team Members: Boyang Cai, Jinru Song, Xuanyu Lai, Xiangzheng Wang, <a href="https://harroldx.github.io/">Jiawei Xia</a>, <a href="https://songwxuan.github.io/">Wenxuan Song</a></p>
640    <div class="venue"><em>ICRA 2026</em> 🏆 <span class="accent-text">The First Place</span> <a href="images/ICRA_2026_WBCD_certificate.jpg" class="cert-link"><b>(Certificate)</b></a></div>
641    <p class="comp-media"><strong>Media: <a href="https://mp.weixin.qq.com/s/N-dUuNBCAGU_zsGAjGLVxw">AI科技评论</a> | <a href="https://mp.weixin.qq.com/s/jJLwNItTH3EQKAnQdG4jlQ">无限演化</a></strong></p>
642  </div>
643</div>
644
645<div class="paper-box floating-card paper-box--competition">
646  <div class="paper-box-image">
647    <div class="badge">2026</div>
648    <video class="competition-cover-video" autoplay="" loop="" muted="" playsinline="" preload="auto" aria-label="Robot Warrior Challenge 2026 wheel-legged demo">
649      <source src="video/wheel-legged-autonomous.mp4?v=7" type="video/mp4" />
650    </video>
651  </div>
652  <div class="paper-box-text">
653    <h3><a href="https://kw.beijing.gov.cn/xwdt/kcyx/kcyxkchd/202604/t20260421_4598849.html">Robot Warrior Challenge 2026</a></h3>
654    <p class="comp-track"><strong>Wheel-Legged Robot Track (Autonomous)</strong></p>
655    <div class="authors"><a href="https://changerc77.github.io/"><strong>Xiangyu Chen</strong></a>, Yihang Kang, Tao Wang</div>
656    <p>We used a wheel-legged robot dog and achieved fully autonomous navigation through SLAM, reinforcement learning, and related methods.</p>
657    <div class="venue">🏆 <span class="accent-text">Robot Warrior Intelligent Mobility Award</span> <a href="certificate/Robot_Warrior_Speed_Award.png" class="cert-link"><b>(Certificate)</b></a></div>
658  </div>
659</div>
660
661<div class="paper-box floating-card paper-box--competition">
662  <div class="paper-box-image">
663    <div class="badge">2026</div>
664    <video class="competition-cover-video" autoplay="" loop="" muted="" playsinline="" preload="auto" aria-label="Robot Warrior Challenge 2026 wheel-legged teleoperation demo">
665      <source src="video/wheel-legged-teleoperation.mp4?v=4" type="video/mp4" />
666    </video>
667  </div>
668  <div class="paper-box-text">
669    <h3><a href="https://kw.beijing.gov.cn/xwdt/kcyx/kcyxkchd/202604/t20260421_4598849.html">Robot Warrior Challenge 2026</a></h3>
670    <p class="comp-track"><strong>Wheel-Legged Robot Group (Teleoperation)</strong></p>
671    <div class="authors"><a href="https://changerc77.github.io/"><strong>Xiangyu Chen</strong></a>, Yihang Kang, Tao Wang</div>
672    <div class="venue">🥉 <span class="accent-text">Third Place</span> &amp; <span class="accent-text">Robot Warrior Speed Award</span> <a href="certificate/Teleoperation_Speed.png" class="cert-link"><b>(Certificate)</b></a></div>
673  </div>
674</div>
675
676<div class="paper-box floating-card paper-box--competition">
677  <div class="paper-box-image">
678    <div class="badge">ICRA 2025</div>
679    <img src="images/2025_WBCD.gif" alt="WBCD challenge demo" />
680  </div>
681  <div class="paper-box-text">
682    <h3><a href="https://wbcdcompetition.github.io/2025/index.html">ICRA 2025 What Bimanuals Can Do (WBCD) Challenge</a></h3>
683    <p class="comp-track"><strong>Hierarchical Bimanual Manipulation Policy for Dining Room Service</strong></p>
684    <div class="authors"><a href="https://ericlee0224.github.io/">Weize Li</a>, Zhengxiao Han, <a href="https://davidlxu.github.io/">Lixin Xu</a>, <a href="https://changerc77.github.io/"><strong>Xiangyu Chen</strong></a>, <a href="https://harrisonbounds.github.io/">Harrison Bounds</a>, Chenrui Zhang, <a href="https://scholar.google.com/citations?user=RYKMFp4AAAAJ&amp;hl=en">Yifan Xu</a></div>
685    <div class="venue"><em>ICRA 2025</em> 🏆 <span class="accent-text">The First Place</span> <a href="certificate/ICRA_2025_WBCD_certificate.pdf" class="cert-link"><b>(Certificate)</b></a></div>
686    <p class="comp-media"><strong>Media: <a href="https://mp.weixin.qq.com/s/SqlE_TpMyzCj3Us1R3L4NA">甲子光年</a> | <a href="https://mp.weixin.qq.com/s/GwJiwAKvZb0K-uHy2_rzBQ">36氪</a> | <a href="https://mp.weixin.qq.com/s/H26K-brCRXqNVZ-BScoC-g">机器之心</a> | <a href="https://mp.weixin.qq.com/s/Y-9wZm2Rwr_gLEelUgV39A">量子位</a> | <a href="https://mp.weixin.qq.com/s/hXL6lI4Mh4bpAi9OrABtEA">ARX方舟无限</a></strong></p>
687  </div>
688</div>
689
690<div class="paper-box floating-card paper-box--competition paper-box--media-stack">
691  <div class="paper-box-image">
692    <div class="badge">CVPR 2025</div>
693    <img src="images/maniskill-vitac-setup.png" alt="ManiSkill-ViTac hardware setup" />
694    <img src="images/maniskill-vitac-sim.jpg" alt="ManiSkill-ViTac simulation markers and grasp" />
695    <img src="images/maniskill-vitac-real.jpg" alt="ManiSkill-ViTac real-world vision-tactile demonstration" />
696  </div>
697  <div class="paper-box-text">
698    <h3><a href="https://ai-workshops.github.io/maniskill-vitac-challenge-2025/">ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing</a></h3>
699    <div class="venue"><span class="accent-text"><strong>Champion</strong></span> 🏆 in Track 2: Tactile-Vision-Fusion Manipulation <a href="certificate/Track2_1_ TARS-STEIIA_certificate.pdf" class="cert-link"><b>(Certificate)</b></a></div>
700    <div class="venue"><span class="accent-text"><strong>The First Place</strong></span> 🏆 in CVPR 2025 Embodied AI Workshop <a href="certificate/2025 Award - ManiSkill-ViTac Track 2 First v1.pdf" class="cert-link"><b>(Certificate)</b></a></div>
701    <p class="comp-track"><strong>TARS-STEIIA Team</strong></p>
702    <p class="comp-role">Team Leader: <a href="https://warshallrho.github.io/">Ruihai Wu</a></p>
703    <p class="comp-role">Instructor: <a href="https://www.xxlong.site/">Xiaoxiao Long</a></p>
704    <p class="comp-label">Members</p>
705    <p class="comp-role">Xiang Xiao, Yuxing Qin, <a href="https://mrsecant.github.io/">Yuhang Zheng</a>, <strong>Xiangyu Chen</strong></p>
706    <p class="comp-media"><strong>Media: <a href="https://mp.weixin.qq.com/s/Tj4RPRPTz4ojt4wOJAh-qw">新智元</a></strong></p>
707  </div>
708</div>
709
710<p><span class="anchor" id="projects"></span>
711<span class="anchor" id="selected-projects"></span>
712<span class="anchor" id="skills"></span></p>
713
714<h1 id="-projects"><i class="fas fa-diagram-project"></i> Projects</h1>
715<div class="paper-box floating-card">
716  <div class="paper-box-image">
717    <div class="badge">YueXiu</div>
718    <img src="images/arx-new-lift.gif" alt="Mobile manipulation in household tasks" width="100%" />
719  </div>
720  <div class="paper-box-text">
721    <h3>Mobile Manipulation in household tasks</h3>
722    <div class="authors"><a href="https://changerc77.github.io/">Xiangyu Chen</a>
722 (cooperated with YueXiu Property)</div>
723    <p>Whole Body Control</p>
724    <p>VR Teleoperation</p>
725    <p><strong>Media: <a href="https://mp.weixin.qq.com/s/GrqOOWY30n4-WxFGR2AOSA">Yuexiu Property</a></strong></p>
726  </div>
727</div>
728
729<div class="paper-box floating-card">
730  <div class="paper-box-image">
731    <div class="badge">RL</div>
732    <img src="images/locomotion.gif" alt="Humanoid Unitree G1 RL locomotion" width="100%" />
733  </div>
734  <div class="paper-box-text">
735    <h3>Humanoid Unitree G1 RL locomotion</h3>
736    <div class="authors"><a href="https://changerc77.github.io/">Xiangyu Chen</a> (Independent Project)</div>
737    <p>Algorithm: Reinforcement Learning (PPO)</p>
738    <p>Simulation: Isaac Gym, Mujoco</p>
739    <p>I implemented reinforcement learning (PPO) algorithm using the <code>rsl_rl</code> library and Isaac Gym to train locomotion policy, and use Mujoco Simulation to test the policy.</p>
740  </div>
741</div>
742
743<div class="paper-box floating-card">
744  <div class="paper-box-image">
745    <div class="badge">CityU</div>
746    <img src="images/mobile-manipulation.gif" alt="Mobile manipulation with imitation learning" width="100%" />
747  </div>
748  <div class="paper-box-text">
749    <h3>Mobile Manipulation with Imitation Learning</h3>
750    <p>GAIRLAB, City University of Hong Kong (CityU)</p>
751    <div class="authors"><a href="https://cckaixin.github.io/myWebsite/">Kaixin Chai</a>, <strong>Xiangyu Chen</strong>, <a href="https://space.bilibili.com/690876182/video">Yufeng Li</a>, <a href="https://scholars.cityu.edu.hk/en/persons/pengyin">Peng Yin</a>*</div>
752    <div class="links">
753      <a href="video/mobile-manipulation.mp4" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
754    </div>
755    <p>Imitation Learning(ACT)</p>
756    <p>Data Collection by Teleoperation System</p>
757    <p>Whole-Body Control</p>
758  </div>
759</div>
760
761<div class="paper-box floating-card">
762  <div class="paper-box-image">
763    <div class="badge">Wheel-Legged</div>
764    <img src="images/dynamics-obstacle-avoidance.gif" alt="Wheel-legged robot dynamics obstacle avoidance" width="100%" />
765  </div>
766  <div class="paper-box-text">
767    <h3>Wheel-legged Robot dynamics obstacle avoidance</h3>
768    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://space.bilibili.com/690876182/video">Yufeng Li(Hardware Design)</a></div>
769    <div class="links">
770      <a href="https://www.bilibili.com/video/BV1YrC9YoEfJ/?spm_id_from=333.999.0.0&amp;vd_source=f65938b935c55207f67b4be1aaaf9b29" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
771    </div>
772    <p><strong>Contribution:</strong></p>
773    <p>Lidar-based SLAM (Cartographer)</p>
774    <p>Navigation (A* and TEB)</p>
775  </div>
776</div>
777
778<div class="paper-box floating-card">
779  <div class="paper-box-image">
780    <div class="badge">Wheel-Legged</div>
781    <img src="images/static-obstacle-avoidance.gif" alt="Wheel-legged robot static obstacle avoidance" width="100%" />
782  </div>
783  <div class="paper-box-text">
784    <h3>Wheel-legged Robot static obstacle avoidance</h3>
785    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://space.bilibili.com/690876182/video">Yufeng Li(Hardware Design)</a></div>
786    <div class="links">
787      <a href="https://www.bilibili.com/video/BV1aZxNefEU7?spm_id_from=333.788.videopod.sections&amp;vd_source=f65938b935c55207f67b4be1aaaf9b29" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
788    </div>
789    <p><strong>Contribution:</strong></p>
790    <p>Lidar-based SLAM (Cartographer)</p>
791    <p>Navigation (A* and TEB)</p>
792  </div>
793</div>
794
795<div class="paper-box floating-card">
796  <div class="paper-box-image">
797    <div class="badge">AIR</div>
798    <img src="images/3d-nav.gif" alt="Navigation in 3D large-scale environment" width="100%" />
799  </div>
800  <div class="paper-box-text">
801    <h3>Navigation in 3D Large-Scale Environment</h3>
802    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
803    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://yixfeng.github.io/">Yixiao Feng</a>, Yunlong Feng, Yongliang Shi, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
804    <p>Lidar-based SLAM (LIO-SAM)</p>
805    <div class="links">
806      <a href="https://github.com/YixFeng/Block-Map-Based-Localization" class="btn-accent"><i class="fab fa-github"></i> block-based-localizaton</a>
807    </div>
808    <p>Navigation (A* and TEB)</p>
809  </div>
810</div>
811
812<div class="paper-box floating-card">
813  <div class="paper-box-image">
814    <div class="badge">Swarm</div>
815    <img src="images/leader-follower.gif" alt="Leader-Follower multi-agent swarm" width="100%" />
816  </div>
817  <div class="paper-box-text">
818    <h3>Leader-Follower Multi-Agent Swarm (Sim2Real Transfer)</h3>
819    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
820    <div class="authors"><a href="https://absrat.com/">Zhengxiao Han</a>, Jingtian Deng, <a href="https://linden713.github.io/">Chenghao Lin</a>, <strong>Xiangyu Chen</strong>, <a href="https://teoren0217.github.io/">Tianao Ren</a>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
821    <p>Lidar-based SLAM (Cartographer)</p>
822    <p>Pure Pursuit algorithm</p>
823    <p>High stability and obstacle avoidance ability</p>
824  </div>
825</div>
826
827<div class="paper-box floating-card">
828  <div class="paper-box-image">
829    <div class="badge">Indoor Nav</div>
830    <img src="images/navigation-indoor.gif" alt="Dynamics obstacles avoidance indoor" width="100%" />
831  </div>
832  <div class="paper-box-text">
833    <h3>Dynamics Obstacles Avoidance Indoor</h3>
834    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
835    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://0nhc.github.io/">Zhengxiao Han</a>, <a href="https://yixfeng.github.io/">Yixiao Feng</a>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a>.</div>
836    <p>Lidar-based SLAM (Cartographer), Vision-based SLAM (ORB_SLAM, RTAB_MAP)</p>
837    <p>Extended Kalman Filter (EKF)</p>
838    <p>Navigation (A* and TEB)</p>
839  </div>
840</div>
841
842<div class="paper-box floating-card">
843  <div class="paper-box-image">
844    <div class="badge">Cyberdog</div>
845    <img src="images/cyberdog-navigation.gif" alt="Cyberdog navigation in indoor environment" width="100%" />
846  </div>
847  <div class="paper-box-text">
848    <h3>Cyberdog Navigation in indoor environment</h3>
849    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
850    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://0nhc.github.io/">Zhengxiao Han</a>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
851    <div class="links">
852      <a href="https://www.bilibili.com/video/BV1cq4y1e7bZ/?spm_id_from=333.999.0.0" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
853    </div>
854    <p>Lidar-based SLAM (Cartographer)</p>
855    <p>Extended Kalman Filter (EKF)</p>
856    <p>Navigation (A* and TEB)</p>
857  </div>
858</div>
859
860<div class="paper-box floating-card">
861  <div class="paper-box-image">
862    <div class="badge">Cyberdog</div>
863    <img src="images/cyberdog-slam.gif" alt="Cyberdog SLAM in indoor environment" width="100%" />
864  </div>
865  <div class="paper-box-text">
866    <h3>Cyberdog SLAM in indoor environment</h3>
867    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
868    <div class="authors"><strong>Xiangyu Chen</strong>, <a href="https://0nhc.github.io/">Zhengxiao Han</a>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
869    <div class="links">
870      <a href="https://www.bilibili.com/video/BV1UL411P7xM/?spm_id_from=333.999.0.0&amp;vd_source=f65938b935c55207f67b4be1aaaf9b29" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
871    </div>
872    <p>Lidar-based SLAM (Cartographer)</p>
873  </div>
874</div>
875
876<div class="paper-box floating-card">
877  <div class="paper-box-image">
878    <div class="badge">RL Nav</div>
879    <img src="images/rl-visual-navigation.gif" alt="End-to-end visual navigation" width="100%" />
880  </div>
881  <div class="paper-box-text">
882    <h3>End-to-end Visual Navigation</h3>
883    <p><a href="https://www.discover-lab.com/">DISCOVER Lab</a>, AIR, Tsinghua University</p>
884    <div class="authors">Guan Wang, <a href="https://t6-thu.github.io/">Haoyi Niu</a>, <strong>Xiangyu Chen</strong>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
885    <div class="links">
886      <a href="video/end-to-end-visual-navigation.mp4" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
887    </div>
888    <p>Reinforcement Learning</p>
889    <p>Sim2Real</p>
890  </div>
891</div>
892
893<h1 id="-simulation"><i class="fas fa-cube"></i> Simulation</h1>
894<div class="paper-box floating-card">
895  <div class="paper-box-image">
896    <div class="badge">Gazebo</div>
897    <img src="images/slave-agent-obstacle-avoidance.gif" alt="Slave obstacle avoidance" width="100%" />
898  </div>
899  <div class="paper-box-text">
900    <h3>Slave Obstacle Avoidance</h3>
901    <div class="venue">Gazebo</div>
902    <div class="authors">Jingtian Deng, <strong>Xiangyu Chen</strong>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
903    <p>Artificial Potential Field Method</p>
904  </div>
905</div>
906
907<div class="paper-box floating-card">
908  <div class="paper-box-image">
909    <div class="badge">Isaac Sim</div>
910    <img src="images/wheeled-legged-navigation.gif" alt="Wheeled-legged navigation" width="100%" />
911  </div>
912  <div class="paper-box-text">
913    <h3>Wheeled-Legged Navigation</h3>
914    <div class="venue">Isaac Sim</div>
915    <div class="authors"><a href="https://absrat.com/">Zhengxiao Han</a>, <strong>Xiangyu Chen</strong>, <a href="https://air.tsinghua.edu.cn/en/info/1046/1196.htm">Guyue Zhou</a></div>
916  </div>
917</div>
918
919<h1 id="-industrial-collaboration"><i class="fas fa-industry"></i> Industrial Collaboration</h1>
920<div class="paper-box floating-card">
921  <div class="paper-box-image">
922    <div class="badge">iFlytek</div>
923    <video class="publication-cover-video" autoplay="" loop="" muted="" playsinline="" preload="metadata" aria-label="VLM for mobile manipulation">
924      <source src="images/llm-mobile-manipulation.mp4" type="video/mp4" />
925    </video>
926  </div>
927  <div class="paper-box-text">
928    <h3>Cooperation with iFytek: VLM for Mobile Manipulation</h3>
929    <div class="authors"><a href="https://philipflyg.github.io/">Pengfei Li</a>, <strong>Xiangyu Chen</strong></div>
930    <div class="links">
931      <a href="video/llm-mobile-manipulation.mp4" class="btn-accent"><i class="fas fa-circle-play"></i> Video</a>
932    </div>
933    <p>The industrial compound mobile robot, enhanced by the capabilities of the Antelope Industrial Large Model in understanding computations, generating industrial code, and processing industrial text, can perform task comprehension, decomposition, instruction generation, and other operations through applications such as industrial task splitting, path code planning, and industrial object detection and image segmentation within a natural language interaction model. This further enhances the efficiency and effectiveness of industrial robots.</p>
934  </div>
935</div>
936
937<div class="paper-box floating-card">
938  <div class="paper-box-image">
939    <div class="badge">Baidu</div>
940    <img src="images/baidu-apollo-v2x.png" alt="Baidu Apollo V2X" width="100%" />
941  </div>
942  <div class="paper-box-text">
943    <h3>Baidu Apollo V2X Vehicle-Road Cooperative Technology Model Construction and Validation</h3>
944    <div class="links">
945      <a href="https://air.tsinghua.edu.cn/info/1026/1246.htm" class="btn-accent"><i class="fas fa-globe"></i> Website</a>
946    </div>
947    <p><strong>Contribution &amp; Results</strong>: we developed a safety model based on two scenarios: ring road conflicts and unprotected left turns, and evaluated the safety performances in both individual vehicle intelligence and V2X scenarios. The results indicate that V2X improved safety metrics by 30% to 90%.</p>
948    <p><strong>Result</strong>: In collaboration with Baidu, contributed to the release of the first Chinese white paper on vehicle-road cooperative technology: Key technologies and prospects of vehicle-road collaboration for autonomous driving.</p>
949  </div>
950</div>
951
952<p><span class="anchor" id="awards"></span>
953<span class="anchor" id="honors-and-awards"></span></p>
954
955<h1 id="-awards"><i class="fas fa-trophy"></i> Awards</h1>
956<ul class="about-section-list">
957  <li><span class="accent-text"><strong>City Special Prize</strong></span>, "Unbounded · 2023 Shanghai International Student (Nationalized University Students) Innovation and Entrepreneurship Competition"</li>
958  <li><span class="accent-text"><strong>City Top 10, Best Popularity Award, Second and Third Prizes</strong></span>, 2020 and 2022 China-U.S. Maker Competition (Shanghai Regional)</li>
959  <li><span class="accent-text"><strong>Third Prize</strong></span>, 2021 Cross-Strait Maker Competition National Finals</li>
960  <li><span class="accent-text"><strong>City Second and Third Prizes</strong></span>, 2019 and 2022 Shanghai College Student Maker Competition</li>
961  <li><span class="accent-text"><strong>First Prize (National Level)</strong></span>, 2017 International Youth Innovation Design Competition China Region</li>
962</ul>
963
964<h1 id="-hobbies"><i class="fas fa-basketball-ball"></i> Hobbies</h1>
965<p>Outside of research, I enjoy playing basketball <i class="fas fa-basketball-ball"></i> .</p>
966
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