Publications

Handroid: Bridging Dexterous Hand and Humanoid

Ruogu Li, Chenyang Ma, Sikai Li, Zhenyu Wei, Yunchao Yao, Haochen Shi, C. Karen Liu, Shuran Song, Mingyu Ding

arXiv Preprint 2026

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DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation

Yu Fang*, Wanxi Dong*, Jiaqi Liu, Yue Yang, Mingxiao Huo, Yao Mu, Huaxiu Yao, Li Erran Li, Daniel Szafir, Mingyu Ding

arXiv Preprint 2026

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DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation

Yunchao Yao*, Zhuxiu Xu*, Tianqi Zhang, Zixuan Liu, Sikai Li, Zhenyu Wei, Feng Chen, Dihong Huang, Kechang Wan, Chenyang Ma, Shuqi Zhao, Shenghua Gao, Masayoshi Tomizuka, Yi Ma, Mingyu Ding

arXiv Preprint 2026

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Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

Chenyang Ma*, Yunchao Yao*, Zhenyu Wei*, Ruogu Li, Daniel Szafir, Mingyu Ding

arXiv Preprint 2026

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AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance

Shuning Li, Sikai Li, Jiachen Li, Mingyu Ding

arXiv Preprint 2026

Paper

DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand

Dihong Huang, Zhenyu Wei, Zhuxiu Xu, Yunchao Yao, Sikai Li, Mingyu Ding

arXiv Preprint 2026

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Learning Action Priors for Cross-Embodiment Robot Manipulation

Dong Jing, Tianqi Zhang, Jiaqi Liu, Jinman Zhao, Zelong Sun, Li Erran Li, Zhiwu Lu, Mingyu Ding

arXiv Preprint 2026

Paper

CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation

Sikai Li, Shuning Li, Zhenyu Wei, Yunchao Yao, Chenran Li, Mingyu Ding

RSS 2026 WCBM Workshop

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TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies

Dong Jing*, Jingchen Nie*, Tianqi Zhang*, Jiaqi Liu, Huaxiu Yao, Zhiwu Lu, Mingyu Ding

arXiv Preprint 2026

Paper

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs

Yu Fang, Yuchun Feng, Dong Jing, Jiaqi Liu, Yue Yang, Zhenyu Wei, Daniel Szafir, Mingyu Ding

arXiv Preprint 2026

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One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation

Zhenyu Wei, Yunchao Yao, Mingyu Ding

RSS 2026

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Mixture of Horizons in Action Chunking

Dong Jing, Gang Wang, Jiaqi Liu, Weiliang Tang, Zelong Sun, Yunchao Yao, Zhenyu Wei, Yunhui Liu, Zhiwu Lu, Mingyu Ding

ICML 2026

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Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions

Cunxin Fan, Xiaosong Jia, Yihang Sun, Yixiao Wang, Jianglan Wei, Ziyang Gong, Xiangyu Zhao, Masayoshi Tomizuka, Xue Yang, Junchi Yan, Mingyu Ding

ICLR 2026

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ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis

Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding

IROS 2025

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Physics-Aware Robotic Palletization with Online Masking Inference

Tianqi Zhang, Zheng Wu, Yuxin Chen, Yixiao Wang, Boyuan Liang, Scott Moura, Masayoshi Tomizuka, Mingyu Ding† (corresponding author), Wei Zhan

ICRA 2025

Best Paper Award in Automation

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GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation

Weiliang Tang, Jia-Hui Pan, Yun-Hui Liu, Masayoshi Tomizuka, Li Erran Li, Chi-Wing Fu, Mingyu Ding

IROS 2026

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DexHandDiff: Interaction-Aware Diffusion Planning for Adaptive Dexterous Manipulation

Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen, Wenqi Shao, Wei Zhan, Masayoshi Tomizuka, Ping Luo, Mingyu Ding

CVPR 2025

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Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration

ICRA 2024

Best Paper Award

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