publications

2026

1. 

   Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction

   Ruoqu Chen, Feixiang Ruan, Liu Cao, Zihao Wang, Botian Xu, Shiqin Tong, Jiajun Liu, Wanli Xing, and 2 more authors

   In RSS 2026 Workshop on Dexterous Manipulation, 2026

   Spotlight Abs Website

   Spotlight

   A framework that learns visual-tactile dexterous manipulation skills from human videos by leveraging simulated interaction, bridging the gap between passive human demonstrations and executable robot policies.

2. 

   HuMiT: Low-Latency Whole-Body Humanoid Teleoperation via Minimal Reference Tracking

   Liu Cao, Botian Xu, Ruoqu Chen, Jiajun Liu, Mingzhi Pei, Zihao Wang, Zhongyu Li, and Mengdi Xu

   Preprint (Under Review), 2026

   Abs Website

   HuMiT is a whole-body teleoperation system that drives a humanoid from sparse human keypoints alone, achieving  20 ms communication-to-inference latency to enable reactive whole-body skills such as ball catching and loco-manipulation.

3. 

   What Do VLAs Actually Learn through In-Context Failure Conditioning?

   Jiajun Liu, Jieming Li, Zi Zhuang, Hang Yu, Qingli Chen, Liu Cao, Yingxi Lu, Ruoqu Chen, and 4 more authors

   In CVPR 2026 Workshop on 3D-LLM/VLA, 2026

   Abs Code Website

   Using RoboRetry as a controlled probe across 12 RLBench tasks, we study whether vision-language-action policies actually learn from prior failures via in-context conditioning, disentangling a slot-presence effect from content-dependent gains, and release FailureSlot, a dataset of 1,334 annotated failure trajectories.

4. 

   Rethinking Causal Action Tokenization with Conditional Annealing in Flow Matching

   Chenyu Zhang, Yuhang Cao, Yingxi Lu, Daru Du, Jing Shao, Jiajun Liu, Ruoqu Chen, Liu Cao, and 3 more authors

   Preprint, 2026

   Abs Website

   A rethinking of causal action tokenization that introduces conditional annealing within a flow-matching framework to improve action representation for robot learning.

2025

1. 

   UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy

   Ruoqu Chen, Xiangjie Yan, Kangchen Lv, Gao Huang, Zheng Li, and Xiang Li

   In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Abs arXiv Website

   Present UltraDP, a Diffusion-Policy-based method that receives multi-sensory inputs (ultrasound images, wrist camera image, contact wrench, and probe pose) and generates actions that are fit for multi-modal action distributions in autonomous ultrasound scanning. UltraDP achieves a 95% success rate in transverse scanning on previously unseen subjects, demonstrating its effectiveness.

2. 

   Whole-Body Model Predictive Control for Mobile Manipulation with Task Priority Transition

   Yushi Wang, Ruoqu Chen, and Mingguo Zhao

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

   Abs Website

   Developed a Whole-Body Model Predictive Control (WBMPC) framework to manage task priorities and scheduling in multi-task mobile manipulation scenarios. Integrated task priorities into a unified weight matrix, enabling smooth transitions across tasks in both spatial and temporal dimensions.