Xianfeng Cheng — accepted AI-conference papers

2026

DexTele: A Dual-Arm Dexterous Teleoperation System Based on Motion Retargeting and Adaptive Force Control

Yuanchuan Lai, Qing Gao, Ziyan Liang, Xianfeng Cheng, Junjie Hu, Zhaojie Ju

ICRA 2026poster

In dual-arm dexterous teleoperation, cross-platform generalization of motion retargeting and interactivity of grasping are crucial. However, the heterogeneity of robotic architectures and the wide variety of grasping objects pose significant challenges to achieving precise motion retargeting and com…

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2026

Viper: Verifiable Imitation Learning Policy for Efficient Robotic Manipulation

Xianfeng Cheng, Qing Gao, Guangyu Chen, Rui Xiong, Junjie Hu, Yulan Guo +1

ICRA 2026poster

Imitation learning (IL) presents a promising paradigm for enabling embodied robots to efficiently acquire human-like manipulation skills. However, prevailing methods face a persistent trade-off between motion precision and computational tractability. To resolve this fundamental challenge, this paper…

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