Xinhai Chang

2 accepted papers

2026

Scalable Trajectory Generation for Whole-Body Mobile Manipulation

Yida Niu, Xinhai Chang, Xin Liu, Ziyuan Jiao, Yixin Zhu

CVPR 2026

Robots deployed in unstructured environments must coordinate whole-body motion---simultaneously moving a mobile base and arm---to interact with the physical world. This coupled mobility and dexterity yields a state space that grows combinatorially with scene and object diversity, demanding datasets

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2025

TerraX: Visual Terrain Classification Enhanced by Vision-Language Models

Hongze Li, Xuchuan Huang, Xinhai Chang, Jun Zhou, Huijing Zhao

IROS 2025

Visual Terrain Classification (VTC) plays a vital role in enabling unmanned ground vehicles to understand complex environments. Existing research relies on image-label pairs annotated by static label sets, where semantic ambiguity and high annotation costs constrain fine-grained terrain characteriza

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