arXiv subjects

Kunqi Xu

Publications and source records attributed to Kunqi Xu.

5 recordsLinked to original sources

arXiv2026

Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation

Robotic manipulation robustness often founders on the physics gap between simplified simulations and the resistance-laden real world. In this work, we emphasize that physical realism in articulated interaction is an important ingredient for robust policy learning. We present Real-IKEA, a dataset and simulation framework designed with physical accuracy as a first-class goal. Real-IKEA provides 1,079 articulated asset configurations, derived from 83 authentic IKEA handles and knobs processed through a meticulous six-step physical workflow. For contact-geometry accuracy, we introduce a bidirectional surface-deviation metric to quantify collision meshes. For dynamics realism, we establish resistance-calibrated configurations that vary damping and friction. Crucially, we demonstrate through a Reinforcement Learning (RL) policy that high-fidelity assets enable the discovery of robust "hooking" and "levering" strategies that prioritize mechanical advantage over fragile friction-pulling. Together, these results position Real-IKEA as a critical benchmark for developing manipulation policies capable of human-level robustness in articulated object tasks.

cs.RO↗

arXiv2026

WorldString: Actionable World Representation

Inspired by the emergent behaviors in large language models that generalized human intelligence, the research community is pursuing similar emergent capabilities within world models, with a emphasis on modeling the physical world. Within the scope of physical world model, objects are the fundamental primitives that constitute physical reality. From humans to computers, nearly everything we interact with is an object. These objects are rarely static; they are actionable entities with varying states determined by their intrinsic properties. While current methods approach object action states either via video generation or dynamic scene reconstruction, none explicitly model this basic element in a unified, principled way to build an actionable object representation. We propose WorldString, a neural architecture capable of modeling the state manifold of real-world objects by learning directly from point clouds or RGB-D video streams. Serving as a versatile digital twin, it acts as a foundational building block for physical world models; thus, we name it WorldString. Sweetly, its fully differentiable structure seamlessly enables future integration with policy learning and neural dynamics.

cs.AI↗

arXiv2025

Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding

Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While existing works have attempted cross-category generalization in adaptive articulated object manipulation, two major challenges persist: (1) the geometric diversity of real-world articulated objects complicates visual perception and understanding, and (2) variations in object functions and mechanisms hinder the development of a unified adaptive manipulation strategy. To address these challenges, we propose AdaRPG, a novel framework that leverages foundation models to extract object parts, which exhibit greater local geometric similarity than entire objects, thereby enhancing visual affordance generalization for functional primitive skills. To support this, we construct a part-level affordance annotation dataset to train the affordance model. Additionally, AdaRPG utilizes the common knowledge embedded in foundation models to reason about complex mechanisms and generate high-level control codes that invoke primitive skill functions based on part affordance inference. Simulation and real-world experiments demonstrate AdaRPG's strong generalization ability across novel articulated object categories.

cs.RO↗

arXiv2021

Toplayer-Dependent Crystallographic Orientation Imaging in the Bilayer Two-Dimensional Materials with Transverse Shear Microscopy

Nanocontact properties of two-dimensional (2D) materials are closely dependent on their unique nanomechanical systems, such as the number of atomic layers and the supporting substrate. Here, we report a direct observation of toplayer-dependent crystallographic orientation imaging of 2D materials with the transverse shear microscopy (TSM). Three typical nanomechanical systems, MoS2 on the amorphous SiO2/Si, graphene on the amorphous SiO2/Si, and MoS2 on the crystallized Al2O3, have been investigated in detail. This experimental observation reveals that puckering behaviour mainly occurs on the top layer of 2D materials, which is attributed to its direct contact adhesion with the AFM tip. Furthermore, the result of crystallographic orientation imaging of MoS2/SiO2/Si and MoS2/Al2O3 indicated that the underlying crystalline substrates almost do not contribute to the puckering effect of 2D materials. Our work directly revealed the top layer dependent puckering properties of 2D material, and demonstrate the general applications of TSM in the bilayer 2D systems.

cond-mat.mtrl-sci↗

arXiv2020

Local probe of the interlayer coupling strength of few-layers SnSe by contact-resonance atomic force microscopy

The interlayer bonding in two dimensional materials is particularly important because it is not only related to their physical and chemical stability but also affects their mechanical, thermal, electronic, optical, and other properties. To address this issue, we report the direct characterization of the interlayer bonding in 2D SnSe using contact-resonance atomic force microscopy in this study. Site specific CR spectroscopy and CR force spectroscopy measurements are performed on both SnSe and its supporting SiO2 substrate comparatively. Based on the cantilever and contact mechanic models, the contact stiffness and vertical Young's modulus are evaluated in comparison with SiO2 as a reference material. The interlayer bonding of SnSe is further analyzed in combination with the semi-analytical model and density functional theory calculations. The direct characterization of interlayer interactions using this nondestructive methodology of CR AFM would facilitate a better understanding of the physical and chemical properties of 2D layered materials, specifically for interlayer intercalation and vertical heterostructures.

cond-mat.mtrl-sci↗