Tianxing Zhou

Yufeng Tian, Shuiqi Cheng, Tianming Wei et al.

Tactile information plays a crucial role in human manipulation tasks and has recently garnered increasing attention in robotic manipulation. However, existing approaches mostly focus on the alignment of visual and tactile features and the integration mechanism tends to be direct concatenation. Consequently, they struggle to effectively cope with occluded scenarios due to neglecting the inherent complementary nature of both modalities and the alignment may not be exploited enough, limiting the potential of their real-world deployment. In this paper, we present ViTaS, a simple yet effective framework that incorporates both visual and tactile information to guide the behavior of an agent. We introduce Soft Fusion Contrastive Learning, an advanced version of conventional contrastive learning method and a CVAE module to utilize the alignment and complementarity within visuo-tactile representations. We demonstrate the effectiveness of our method in 12 simulated and 3 real-world environments, and our experiments show that ViTaS significantly outperforms existing baselines. Project page: https://skyrainwind.github.io/ViTaS/index.html.

Tianxing Zhou, Feiyang Xue, Zhangchen Ye et al.

Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades robustness. We present VolumeDP, a policy architecture that restores spatial alignment by explicitly reasoning in 3D. VolumeDP first lifts image features into a Volumetric Representation via cross-attention. It then selects task-relevant voxels with a learnable module and converts them into a compact set of spatial tokens, markedly reducing computation while preserving action-critical geometry. Finally, a multi-token decoder conditions on the entire token set to predict actions, thereby avoiding lossy aggregation that collapses multiple spatial tokens into a single descriptor. VolumeDP achieves a state-of-the-art average success rate of 88.8% on the LIBERO simulation benchmark, outperforming the strongest baseline by a substantial 14.8% improvement. It also delivers large performance gains over prior methods on the ManiSkill and LIBERO-Plus benchmarks. Real-world experiments further demonstrate higher success rates and robust generalization to novel spatial layouts, camera viewpoints, and environment backgrounds. Code will be released.

Zhennan Jiang, Shangqing Zhou, Yutong Jiang et al.

Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision-Language-Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors do not merely degrade visual fidelity; they corrupt the optimization signal, encouraging policies to exploit model inaccuracies rather than genuine task progress. We propose WoVR, a reliable world-model-based reinforcement learning framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized Rollouts, and maintains policy-simulator alignment through World Model-Policy co-evolution. Extensive experiments on LIBERO benchmarks and real-world robotic manipulation demonstrate that WoVR enables stable long-horizon imagined rollouts and effective policy optimization, improving average LIBERO success from 39.95% to 69.2% (+29.3 points) and real-robot success from 61.7% to 91.7% (+30.0 points). These results show that learned world models can serve as practical simulators for reinforcement learning when hallucination is explicitly controlled.

Tianxing Zhou, Christopher A. Theissen, S. Jean Feeser et al.

Low-mass stars and brown dwarfs -- spectral types (SpTs) M0 and later -- play a significant role in studying stellar and substellar processes and demographics, reaching down to planetary-mass objects. Currently, the classification of these sources remains heavily reliant on visual inspection of spectral features, equivalent width measurements, or narrow-/wide-band spectral indices. Recent advances in machine learning (ML) methods offer automated approaches for spectral typing, which are becoming increasingly important as large spectroscopic surveys such as Gaia, SDSS, and SPHEREx generate datasets containing millions of spectra. We investigate the application of ML in spectral type classification on low-resolution (R $\sim$ 120) near-infrared spectra of M0--T9 dwarfs obtained with the SpeX instrument on the NASA Infrared Telescope Facility. We specifically aim to classify the gravity- and metallicity-dependent subclasses for late-type dwarfs. We used binned fluxes as input features and compared the efficacy of spectral type estimators built using Random Forest (RF), Support Vector Machine (SVM), and K-Nearest Neighbor (KNN) models. We tested the influence of different normalizations and analyzed the relative importance of different spectral regions for surface gravity and metallicity subclass classification. Our best-performing model (using KNN) classifies 95.5 $\pm$ 0.6% of sources to within $\pm$1 SpT, and assigns surface gravity and metallicity subclasses with 89.5 $\pm$ 0.9% accuracy. We test the dependence of signal-to-noise ratio on classification accuracy and find sources with SNR $\gtrsim$ 60 have $\gtrsim$ 95% accuracy. We also find that zy-band plays the most prominent role in the RF model, with FeH and TiO having the highest feature importance.