publications

2026

1. arXiv

   Rethinking Implicit Spatial Representation in Visuomotor Policy Learning

   Xiangyu Chen, Yuxuan Hu, Chuhao Zhou, and Jianfei Yang

   arXiv preprint arXiv:2606.15232, Jun 2026

   arXiv Bib PDF

   @article{chen2026rethinking,
     title = {Rethinking Implicit Spatial Representation in Visuomotor Policy Learning},
     author = {Chen, Xiangyu and Hu, Yuxuan and Zhou, Chuhao and Yang, Jianfei},
     journal = {arXiv preprint arXiv:2606.15232},
     year = {2026},
     month = jun,
   }

2. CVPR

   M³A Policy: Mutable Material Manipulation Augmentation Policy through Photometric Re-rendering

   Jiayi Li, Yuxuan Hu, Haoran Geng, Xiangyu Chen, Chuhao Zhou, Ziteng Cui, and Jianfei Yang

   In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Findings, Jun 2026

   Bib

   @inproceedings{li2026m3a,
     title = {M³A Policy: Mutable Material Manipulation Augmentation Policy through Photometric Re-rendering},
     author = {Li, Jiayi and Hu, Yuxuan and Geng, Haoran and Chen, Xiangyu and Zhou, Chuhao and Cui, Ziteng and Yang, Jianfei},
     booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Findings},
     year = {2026},
     month = jun,
     pages = {3070--3081}
   }

3. arXiv

   MARS Policy: Multimodality Only When It Matters

   Jindou Jia, Tuo An, Yuxuan Hu, Gen Li, Jingliang Li, Bohan Hou, Xiangyu Chen, Jiaqi Bai, Bofan Lyu, and Jianfei Yang

   arXiv preprint arXiv:2605.29766, May 2026

   arXiv Bib PDF Website

   @article{jia2026marspolicy,
     title = {MARS Policy: Multimodality Only When It Matters},
     author = {Jia, Jindou and An, Tuo and Hu, Yuxuan and Li, Gen and Li, Jingliang and Hou, Bohan and Chen, Xiangyu and Bai, Jiaqi and Lyu, Bofan and Yang, Jianfei},
     journal = {arXiv preprint arXiv:2605.29766},
     year = {2026},
     month = may,
   }

4. arXiv

   FLASH: Efficient Visuomotor Policy via Sparse Sampling

   Jiaqi Bai, Jindou Jia, Yuxuan Hu, Gen Li, Xiangyu Chen, Tuo An, Kuangji Zuo, and Jianfei Yang

   arXiv preprint arXiv:2605.15492, May 2026

   arXiv Bib PDF Website

   @article{bai2026flash,
     title = {FLASH: Efficient Visuomotor Policy via Sparse Sampling},
     author = {Bai, Jiaqi and Jia, Jindou and Hu, Yuxuan and Li, Gen and Chen, Xiangyu and An, Tuo and Zuo, Kuangji and Yang, Jianfei},
     journal = {arXiv preprint arXiv:2605.15492},
     year = {2026},
     month = may,
   }

5. arXiv

   Trace-Focused Diffusion Policy for Multi-Modal Action Disambiguation in Long-Horizon Robotic Manipulation

   Yuxuan Hu, Xiangyu Chen, Chuhao Zhou, Yuxi Liu, Gen Li, Jindou Jia, and Jianfei Yang

   arXiv preprint arXiv:2602.07388, Feb 2026

   arXiv Bib PDF

   @article{hu2026trace,
     title = {Trace-Focused Diffusion Policy for Multi-Modal Action Disambiguation in Long-Horizon Robotic Manipulation},
     author = {Hu, Yuxuan and Chen, Xiangyu and Zhou, Chuhao and Liu, Yuxi and Li, Gen and Jia, Jindou and Yang, Jianfei},
     journal = {arXiv preprint arXiv:2602.07388},
     year = {2026},
     month = feb,
   }

6. RSS

   A2A: Action-to-Action Flow Matching for Robot Policy Learning

   Jindou Jia, Gen Li, Xiangyu Chen, Tuo An, Yuxuan Hu, Jingliang Li, Xinying Guo, and Jianfei Yang

   In Robotics: Science and Systems (RSS), Feb 2026

   arXiv Bib PDF Website

   @inproceedings{jia2026a2a,
     title = {A2A: Action-to-Action Flow Matching for Robot Policy Learning},
     author = {Jia, Jindou and Li, Gen and Chen, Xiangyu and An, Tuo and Hu, Yuxuan and Li, Jingliang and Guo, Xinying and Yang, Jianfei},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2026},
     month = feb,
   }

7. ICRA

   

   RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation

   Xiangyu Chen, Chuhao Zhou, Yuxi Liu, and Jianfei Yang

   In IEEE International Conference on Robotics and Automation (ICRA), Jan 2026

   arXiv Bib PDF Website

   @inproceedings{chen2026rmrl,
     title = {RM-RL: Role-Model Reinforcement Learning for Precise Robot Manipulation},
     author = {Chen, Xiangyu and Zhou, Chuhao and Liu, Yuxi and Yang, Jianfei},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
     month = jan,
   }

2025

1. RA-L

   

   iA*: Imperative Learning-based A* Search for Pathfinding

   Xiangyu Chen, Fan Yang, and Chen Wang

   IEEE Robotics and Automation Letters (RA-L), Oct 2025

   arXiv Bib PDF Code Website

   @article{chen2025iastar,
     title = {iA*: Imperative Learning-based A* Search for Pathfinding},
     author = {Chen, Xiangyu and Yang, Fan and Wang, Chen},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
     month = oct,
   }