arXiv subjects

Bingxu Chen

Publications and source records attributed to Bingxu Chen.

3 recordsLinked to original sources

arXiv2026

SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration

Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstrations that transfer faithfully to the robot. Prior wearable-exoskeleton systems record only on the human side and retarget via open-loop mappings calibrated in free space, which degrade under contact. We present SEED-UMI, a framework in which both the human and the robot wear the same exoskeleton: joint encoders become a physically shared measurement, and wrist cameras mounted to the exoskeleton observe the same outer mechanism during both human data collection and robot policy rollouts. This turns retargeting into paired cross-embodiment supervision and lets policies train directly on raw exoskeleton-centric wrist images, without segmentation or inpainting. On five contact-rich tasks, SEED-UMI achieves 3.0x greater data collection efficiency than exoskeleton-based teleoperation and a 70.0% average rollout success rate.

cs.RO↗

arXiv2026

Stress-testing large language model agents in a robotic chemistry laboratory

AI is evaluated through knowledge, reasoning and plan generation, yet scientific agency requires reliable physical action and adaptation to evidence. Here, we use a robotic chemistry laboratory as a physical-world testbed to make scientific agency measurable. Its 45 modular workstations exposed as machine-readable skills enabled 4,608 trials. Only 3.3% of trials produced expert-assessed executable workflows under laboratory constraints; even the best system achieved 28.1%. Long-horizon planning remained a challenge: only three executable workflows exceeded 30 operations, although the longest contained 44. Across five rounds, experimental feedback prompted local adjustments but no workflow-level replanning or analytical-method redesign. By making physical executability and evidence-driven replanning measurable, our study provides an evidence-based assessment of deployment readiness and a diagnostic framework to guide closed-loop improvements towards physically grounded autonomous research.

cs.AI↗

arXiv2025

Full-bandwidth, continuous, and grayscale 3D nanolithography via line-illumination temporal focusing of ultrafast lasers

Achieving fast and continuous fabrication of large-scale complex 3D structures is key to unlocking industrial-scale adoption of two-photon lithography (TPL). Despite substantial improvement in peak optical patterning rates enabled by recent parallel exposure strategies, the practical fabrication rate of TPL for large structures remains low. This gap is primarily attributed to the mismatched bandwidth among toolpath generation, data transferring, and laser patterning, and the stop-and-go operation for part stitching etc. Here, we present a line-illumination temporal focusing TPL (Line-TF TPL) solution that, for the first time, demonstrates true continuous 3D nanolithography with full-bandwidth data streaming, grayscale voxel tuning, and cost-effective large-scale fabrication capability. To achieve the goal, we use a digital micromirror device (DMD) to temporally focus femtosecond laser pulses into a programmable line with enhanced 3D resolution, pixel-level grayscale control, and a high-refresh rate (>10 kHz), realizing continuous fabrication at a hardware-limited maximum rate. Specifically, we fabricated centimeter-scale 3D structures with sub-diffraction features down to 75 nm laterally and 99 nm axially. Our method eliminates stitching defects by continuous scanning and grayscale stitching; and provides real-time pattern streaming at a bandwidth that is one order of magnitude higher than previous TPL systems. The line-scanning strategy also substantially lowers the pulse-energy requirement, hence the cost for parallel TPL; and maximizes the machine uptime through continuous operation, both of which are critical metrics for industrialization. Finally, we demonstrated centimeter-scale artworks, fine 3D features, and complex miniaturized optics, revealing the Line-TF TPL's large-scale application potential in photonic packaging, metamaterial discovery, and biomedicine.

physics.optics↗