Wentao Dong

Pinshen Xu, Wentao Dong, Guoxing Chen et al.

Trusted Execution Environments (TEEs) have emerged as a critical technology for safeguarding sensitive data and ensuring code integrity in modern computing systems. However, relying on a single TEE implementation makes systems vulnerable to a central point of attack. Building distributed-trust systems leveraging heterogeneous TEEs helps disperse trust but still faces threats from centralized management and adaptive mobile adversaries. To address these challenges, this paper introduces TeeDAO, a novel three-layer framework that automatically organizes multiple heterogeneous TEE instances and provides unified interfaces to support diverse applications, while ensuring long-term guarantees of availability, integrity, and confidentiality. TeeDAO couples BFT-ordered governance with heterogeneity-aware Distributed Proactive Secret Sharing (DPSS) and Secure Multi-Party Computation (MPC) so that attestation-driven committee changes are consistently reflected in secret recovery, resharing, and computation across a dynamic committee of heterogeneous TEEs. We implement a prototype of TeeDAO, integrating COBRA's DPSS scheme with the HotStuff BFT consensus protocol, and adapt it for Intel SGX, TDX, and Hygon CSV. Evaluations demonstrate that TeeDAO achieves up to 1.8x higher key-value store throughput in a large cluster with 61 nodes compared to state-of-the-art systems, efficient autonomous management, and minimal computation overhead (<18%) for multi-party computation tasks.

Xihuai Wang, Shao Zhang, Wenhao Zhang et al.

Zero-shot coordination (ZSC) is a new cooperative multi-agent reinforcement learning (MARL) challenge that aims to train an ego agent to work with diverse, unseen partners during deployment. The significant difference between the deployment-time partners' distribution and the training partners' distribution determined by the training algorithm makes ZSC a unique out-of-distribution (OOD) generalization challenge. The potential distribution gap between evaluation and deployment-time partners leads to inadequate evaluation, which is exacerbated by the lack of appropriate evaluation metrics. In this paper, we present ZSC-Eval, the first evaluation toolkit and benchmark for ZSC algorithms. ZSC-Eval consists of: 1) Generation of evaluation partner candidates through behavior-preferring rewards to approximate deployment-time partners' distribution; 2) Selection of evaluation partners by Best-Response Diversity (BR-Div); 3) Measurement of generalization performance with various evaluation partners via the Best-Response Proximity (BR-Prox) metric. We use ZSC-Eval to benchmark ZSC algorithms in Overcooked and Google Research Football environments and get novel empirical findings. We also conduct a human experiment of current ZSC algorithms to verify the ZSC-Eval's consistency with human evaluation. ZSC-Eval is now available at https://github.com/sjtu-marl/ZSC-Eval.

Wei Jiang, Wentao Dong

In this work, we investigate into the performance of mainstream neural generative models on the very task of swapping faces. We have experimented on CVAE, CGAN, CVAE-GAN, and conditioned diffusion models. Existing finely trained models have already managed to produce fake faces (Facke) indistinguishable to the naked eye as well as achieve high objective metrics. We perform a comparison among them and analyze their pros and cons. Furthermore, we proposed some promising tricks though they do not apply to this task.

Yufei Xue, YunFeng Lin, Wentao Dong et al.

Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the problem of cross-embodiment humanoid control and show that a single policy can robustly generalize across a wide range of humanoid robot designs with one-time training. We introduce XHugWBC, a novel cross-embodiment training framework that enables generalist humanoid control through: (1) physics-consistent morphological randomization, (2) semantically aligned observation and action spaces across diverse humanoid robots, and (3) effective policy architectures modeling morphological and dynamical properties. XHugWBC is not tied to any specific robot. Instead, it internalizes a broad distribution of morphological and dynamical characteristics during training. By learning motion priors from diverse randomized embodiments, the policy acquires a strong structural bias that supports zero-shot transfer to previously unseen robots. Experiments on twelve simulated humanoids and seven real-world robots demonstrate the strong generalization and robustness of the resulting universal controller.

Yufei Xue, Wentao Dong, Minghuan Liu et al.

Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. This limits the kinematic capabilities of humanoid robots. In contrast, humans possess versatile athletic abilities-running, jumping, hopping, and finely adjusting gait parameters such as frequency and foot height. In this paper, we investigate solutions to bring such versatility into humanoid locomotion and thereby propose HugWBC: a unified and general humanoid whole-body controller for versatile locomotion. By designing a general command space in the aspect of tasks and behaviors, along with advanced techniques like symmetrical loss and intervention training for learning a whole-body humanoid controlling policy in simulation, HugWBC enables real-world humanoid robots to produce various natural gaits, including walking, jumping, standing, and hopping, with customizable parameters such as frequency, foot swing height, further combined with different body height, waist rotation, and body pitch. Beyond locomotion, HugWBC also supports real-time interventions from external upper-body controllers like teleoperation, enabling loco-manipulation with precision under any locomotive behavior. Extensive experiments validate the high tracking accuracy and robustness of HugWBC with/without upper-body intervention for all commands, and we further provide an in-depth analysis of how the various commands affect humanoid movement and offer insights into the relationships between these commands. To our knowledge, HugWBC is the first humanoid whole-body controller that supports such versatile locomotion behaviors with high robustness and flexibility.

Xinyuan Wu, Wentao Dong, Hang Lai et al.

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern among these faults is actuator degradation, stemming from factors like device aging or unexpected operational events. Traditionally, addressing this problem has relied heavily on intricate fault-tolerant design, which demands deep domain expertise from developers and lacks generalizability. Learning-based approaches offer effective ways to mitigate these limitations, but a research gap exists in effectively deploying such methods on real-world quadruped robots. This paper introduces a pioneering teacher-student framework rooted in reinforcement learning, named Actuator Degradation Adaptation Transformer (ADAPT), aimed at addressing this research gap. This framework produces a unified control strategy, enabling the robot to sustain its locomotion and perform tasks despite sudden joint actuator faults, relying exclusively on its internal sensors. Empirical evaluations on the Unitree A1 platform validate the deployability and effectiveness of Adapt on real-world quadruped robots, and affirm the robustness and practicality of our approach.

Jingxiao Chen, Xinyao Li, Jiahang Cao et al.

Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable assistants in human daily life. Unfortunately, most existing works only focus on multi-stage interactions, treating each task separately, and neglecting real-time feedback. In this work, we aim to empower humanoid robots with real-time reaction abilities to achieve various tasks, allowing human to interrupt robots at any time, and making robots respond to humans immediately. To support such abilities, we propose a general humanoid-human-object interaction framework, named RHINO, i.e., Real-time Humanoid-human Interaction and Object manipulation. RHINO provides a unified view of reactive motion, instruction-based manipulation, and safety concerns, over multiple human signal modalities, such as languages, images, and motions. RHINO is a hierarchical learning framework, enabling humanoids to learn reaction skills from human-human-object demonstrations and teleoperation data. In particular, it decouples the interaction process into two levels: 1) a high-level planner inferring human intentions from real-time human behaviors; and 2) a low-level controller achieving reactive motion behaviors and object manipulation skills based on the predicted intentions. We evaluate the proposed framework on a real humanoid robot and demonstrate its effectiveness, flexibility, and safety in various scenarios.