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Xuan Zhao

13 accepted papers

2026

CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance

Rui Heng Yang, Xuan Zhao, Léo Maxime Brunswic, Montgomery Tucker Alban, Matéo Clémente, Tongtong Cao +2
ICRA 2026poster

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale dataset, which is costly to obtain, especially for challenging ta…

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2026

Distracted Robot: How Visual Clutter Undermine Robotic Manipulation

Amir Rasouli, Montgomery Tucker Alban, Sajjad Pakdamansavoji, Zhiyuan Li, Zhanguang Zhang, Yangzheng Wu +1
ICRA 2026poster

In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation from a psychophysical perspective, therefore we use a unified measure of clutter that accounts for environmental factors…

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2026

GloTok: Global Perspective Tokenizer for Image Reconstruction and Generation

Xuan Zhao, Zhongyu Zhang, Yuge Huang, Yuxi Mi, Guodong Mu, Shouhong Ding +3
AAAI 2026technical

Existing state-of-the-art image tokenization methods leverage diverse semantic features from pre-trained vision models for additional supervision, to expand the distribution of latent representations and thereby improve the quality of image reconstruction and generation. These methods employ a local

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2026

ImmerIris: A Large-Scale Dataset and Benchmark for Off-Axis and Unconstrained Iris Recognition in Immersive Applications

Yuxi Mi, Qiuyang Yuan, Zhizhou Zhong, Xuan Zhao, Jiaogen Zhou, Fubao Zhu +2
CVPR 2026

Recently, iris recognition is regaining prominence in immersive applications such as extended reality as a means of seamless user identification. This application scenario introduces unique challenges compared to traditional iris recognition under controlled setups, as the ocular images are primaril

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2026

RECAST: Model Reconstruction via Counterfactual-Aware Wasserstein Geometry under Limited Data

Xuan Zhao, Lena Krieger, Zhuo Cao, Arya Bangun, Hanno Scharr, Ira Assent
ICML 2026poster

Counterfactual explanations (CFs) help understand machine learning models by identifying minimal input changes that would lead to alternative model outcomes. Recent work demonstrates their utility for reconstructing black-box models, enabling third-party auditing of opaque decision systems for fairn…

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2025

CODE: Complete Coverage AAV Exploration Planner Using Dual-Type Viewpoints for Multi-Layer Complex Environments

Huazhang Zhu, Tian Lan, Shunzheng Ma, Xuan Zhao, Huiliang Shang, Ruijiao Li
RA-L 2025

We present an autonomous exploration method for autonomous aerial vehicles (AAVs) for three-dimensional (3D) exploration tasks. Our approach, utilizing a cooperation strategy between common viewpoints and frontier viewpoints, fully leverages the agility and flexibility of AAVs, demonstrating faster

Cited by 2Source ↗Scholar ↗
2025

Data Synthesis with Diverse Styles for Face Recognition via 3DMM-Guided Diffusion

Yuxi Mi, Zhizhou Zhong, Yuge Huang, Qiuyang Yuan, Xuan Zhao, Jianqing Xu +4
CVPR 2025poster

Identity-preserving face synthesis aims to generate synthetic face images of virtual subjects that can substitute real-world data for training face recognition models. While prior arts strive to create images with consistent identities and diverse styles, they face a trade-off between them. Identify…

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2025

LeapFactual: Reliable Visual Counterfactual Explanation Using Conditional Flow Matching

Zhuo Cao, Xuan Zhao, Lena Krieger, Hanno Scharr, Ira Assent
NeurIPS 2025poster

The growing integration of machine learning (ML) and artificial intelligence (AI) models into high-stakes domains such as healthcare and scientific research calls for models that are not only accurate but also interpretable. Among the existing explainable methods, counterfactual explanations offer i…

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2025

Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising

Mateo Clémente, Leo Maxime Brunswic, Rui Heng Yang, Xuan Zhao, Yasser H. Khalil, Haoyu LEI +2
NeurIPS 2025poster

Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originally developed for vision tasks like image and video generation, many of their inference strategies have been directly tran…

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2021

A Computational Framework for Robot Hand Design via Reinforcement Learning

Zhong Zhang, Yu Zheng, Zhe Hu, Lezhang Liu, Xuan Zhao, Xiong Li +1
IROS 2021poster

Robot hand is essential for a fully functional robot and designing a good robot hand is a sophisticated job that challenges the designer’s knowledge and experience. This paper presents a computational framework for automatic optimal robot hand design based on reinforcement learning (RL), which consi…

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2021

An Efficient and Responsive Robot Motion Controller for Safe Human-Robot Collaboration

Xuan Zhao, Tingxiang Fan, Yanwen Li, Yu Zheng, Jia Pan
RA-L 2021

Safety and efficiency are two crucial factors for human-robot collaboration. It is challenging to ensure human safety while not sacrificing the task efficiency. In this letter, we present a reinforcement learning (RL) based method with a hazard estimator to balance these two factors. Our method has

Cited by 16Source ↗Scholar ↗
2020

An Actor-Critic Approach for Legible Robot Motion Planner

Xuan Zhao, Tingxiang Fan, Dawei Wang, Zhe Hu, Tao Han, Jia Pan
ICRA 2020poster

In human-robot collaboration, it is crucial for the robot to make its intentions clear and predictable to the human partners. Inspired by the mutual learning and adaptation of human partners, we suggest an actor-critic approach for a legible robot motion planner. This approach includes two neural ne…

Cited by 24Source ↗Scholar ↗
2020

FreeCam3D: Snapshot Structured Light 3D with Freely-Moving Cameras

Yicheng Wu, Vivek Boominathan, Xuan Zhao, Jacob T. Robinson, Hiroshi Kawasaki, Aswin Sankaranarayanan +1
ECCV 2020poster

A 3D imaging and mapping system that can handle both multiple-viewers and dynamic-objects is attractive for many applications. We propose a freeform structured light system that does not rigidly constrain camera(s) to the projector. By introducing an optimized phase-coded aperture in the projector,…

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