Preprints & Publications

Research spanning dexterous and contact-rich manipulation, scalable robot data, human-robot interaction, and multimodal reasoning. Public links are provided where available.

^* Equal contribution. ^† Corresponding author.

DexCompose examples combining object-retention skills with downstream dexterous interactions.

Under review

DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand

Dihong Huang, Zhenyu Wei, Zhuxiu Xu, Yunchao Yao, Sikai Li, Mingyu Ding

Project Page Paper Code

AXIS-Bench overview showing diverse robot demonstrations, state-based quality labels, and findings on quality-aware VLA pretraining.

Under review

What Matters in Quality-Aware VLA Pretraining: A Benchmark and Empirical Study

Mingxuan Yan, Litian Gong, Dihong Huang, Zhixu Li, Tianyu Zhang, Wenqian Zhang, Hefeifei Jiang, Peihao Li, Jian Zhang, Mengfei Zhao, Yikai Tang, Hai Zhai, Zehao Wang, Ruijian Liang, Yanjia Huang, Lin Shao, Changliu Liu, Kaiyu Hang, Zhiwen Fan, Masayoshi Tomizuka, Jianfei Yang, Jiachen Li^†

Project Page Paper

DexVerse teaser showing eight dexterous manipulation categories, six hands, three robot arms, and benchmark evaluations.

Under review

DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation

Yunchao Yao^*, Zhuxiu Xu^*, Tianqi Zhang, Zixian Liu, Sikai Li, Zhenyu Wei, Feng Chen, Dihong Huang, Kechang Wan, Chenyang Ma, Shuqi Zhao, Shenghua Gao, Masayoshi Tomizuka, Yi Ma, Mingyu Ding^†

Paper

AXIS pipeline spanning task generation, browser teleoperation, data refinement, augmentation, and robot policy learning.

IROS 2026 · PWMS Workshop Accepted (Poster)

AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation

Mengfei Zhao^*, Dihong Huang^*, Yikai Tang^*, Peihao Li^*, Mingxuan Yan^*, Ruiqi Zhuang^*, Yanjia Huang^*, Jie Wang, Hai Zhai, Tony Zhou, Rui Zhang, Zhexi Luo, Yuchen Huang, Jianfei Yang^†, Jiachen Li^†

IROS 2026 Workshop on Physical World Models for Scaling Embodied AI (PWMS)

Project Page Paper Data

Axis AI Platform teaser connecting web-based teleoperation, asset normalization, task generation, data refinement, and policy learning.

Technical Report

Axis AI Platform: A Cross-Simulator, Cross-Machine Infrastructure for Scalable Teleoperation and Generalizable Robot Learning

Axis Robotics Team

Project Page Paper