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Liqun Huang

Publications and source records attributed to Liqun Huang.

13 recordsLinked to original sources

VIG: Visual Information Gain as a Reward Signal for Multimodal Chain-of-Thought Compression

Multimodal large reasoning models often rely on long Chain-of-Thought (CoT) traces in which a substantial fraction of tokens, such as repeated visual descriptions, self-reflection, and other visually-disengaged filler, inflate inference cost without contributing to the answer. Existing CoT compression methods optimize output length but never measure whether a reasoning token is actually grounded in the image. We propose \textbf{VIG} (Visual Information Gain), an information-theoretic GRPO reward that scores each reasoning token by how much the image reduces its predictive uncertainty. VIG is computed online from two forward passes of the same policy, one with and one without the image, so no reference chains, external annotations, or auxiliary reward models are needed. Across six main multimodal reasoning benchmarks and three Qwen3-VL-Thinking model sizes (2B/4B/8B), plus an additional R1-Onevision-Bench evaluation on 8B, VIG consistently improves the accuracy--efficiency trade-off, supporting our central claim: \emph{efficient multimodal reasoning emerges from raising visual information density, where every reasoning token earns its place by anchoring to the image, rather than from imposing a length budget.} Our source code is available at https://github.com/chaser682/vig.

cs.CV

SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation

Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulation. We present SiMDex, a similarity-based data mining framework that casts human data selection for VLA post-training in dexterous manipulation as a recommendation problem. For each robot demonstration, SiMDex employs a three-layer recall-ranking-re-ranking pipeline to extract task-relevant subsets from a pool of ~32M egocentric human samples, operating in a morphology-agnostic action space that requires no changes to VLA architecture or training. Against a strong baseline trained with an equal amount of randomly sampled human data, SiMDex uses only ~1.49M mined samples (<5% of the pool) yet improves the overall success rate from 47.7% to 61.1%, showing that selective curation outperforms indiscriminate data mixing.

cs.RO

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention

Vision-Language-Action (VLA) models are prone to compounding errors in dexterous manipulation, where high-dimensional action spaces and contact-rich dynamics amplify small policy deviations over long horizons. While Interactive Imitation Learning (IIL) can refine policies through human correction data, applying it to high-degree-of-freedom (DoF) robotic hands remains challenging due to a command mismatch between human teleoperation and policy execution at the intervention moment, which causes abrupt robot-hand configuration changes, or "gesture jumps". We present Hand-in-the-Loop (HandITL), a seamless human-in-the-loop intervention method that blends human corrective intent with autonomous policy execution to avoid gesture jumps during bimanual dexterous manipulation. Compared with taking over control using direct teleoperation, HandITL reduces intervention jitter by 99.8% and preserves robust post-intervention manipulation, reducing grasp failures by 87.5% and mean completion time by 19.1%. We validate HandITL on tasks requiring bimanual coordination, tool use, and fine-grained long-horizon manipulation. When used to collect correction data for policy refinement, HandITL yields policies that outperform those trained with standard teleoperation data by 19% on average across three long-horizon dexterous tasks.

cs.RO

GR-Dexter Technical Report

Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous hands remains challenging due to the expanded action space, frequent hand-object occlusions, and the cost of collecting real-robot data. We present GR-Dexter, a holistic hardware-model-data framework for VLA-based generalist manipulation on a bimanual dexterous-hand robot. Our approach combines the design of a compact 21-DoF robotic hand, an intuitive bimanual teleoperation system for real-robot data collection, and a training recipe that leverages teleoperated robot trajectories together with large-scale vision-language and carefully curated cross-embodiment datasets. Across real-world evaluations spanning long-horizon everyday manipulation and generalizable pick-and-place, GR-Dexter achieves strong in-domain performance and improved robustness to unseen objects and unseen instructions. We hope GR-Dexter serves as a practical step toward generalist dexterous-hand robotic manipulation.

cs.RO

GR-RL: Going Dexterous and Precise for Long-Horizon Robotic Manipulation

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to existing VLA policies. However, we claim that in highly dexterous and precise manipulation tasks, human demonstrations are noisy and suboptimal. GR-RL proposes a multi-stage training pipeline that filters, augments, and reinforces the demonstrations by reinforcement learning. First, GR-RL learns a vision-language-conditioned task progress, filters the demonstration trajectories, and only keeps the transitions that contribute positively to the progress. Specifically, we show that by directly applying offline RL with sparse reward, the resulting $Q$-values can be treated as a robust progress function. Next, we introduce morphological symmetry augmentation that greatly improves the generalization and performance of GR-RL. Lastly, to better align the VLA policy with its deployment behaviors for high-precision control, we perform online RL by learning a latent space noise predictor. With this pipeline, GR-RL is, to our knowledge, the first learning-based policy that can autonomously lace up a shoe by threading shoelaces through multiple eyelets with an 83.3% success rate, a task requiring long-horizon reasoning, millimeter-level precision, and compliant soft-body interaction. We hope GR-RL provides a step toward enabling generalist robot foundation models to specialize into reliable real-world experts.

cs.RO

ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces

This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a compact three-stage parallel drive mechanism integrated with arc-shaped end linkages. The design achieves precise RPY (Roll-Pitch-Yaw) motion while maintaining exceptional compactness, making it particularly suitable for complex unstructured environments such as home services, medical assistance, and precision assembly. The key innovations include: (1) a nested three-stage motor-driven linkages that minimize volume while enabling independent multi-DOF control, (2) arc-shaped end linkages that optimize force transmission and expand motion range, and (3) a central supporting ball functioning as a spherical joint that enhances structural stiffness without compromising flexibility. Meanwhile, we present comprehensive kinematic modeling including forward / inverse kinematics and a numerical Jacobian solution for precise control. Empirically, we observe ByteWrist demonstrates strong performance in narrow-space maneuverability and dual-arm cooperative manipulation tasks, outperforming Kinova-based systems. Results indicate significant improvements in compactness, efficiency, and stiffness compared to traditional designs, establishing ByteWrist as a promising solution for next-generation robotic manipulation in constrained environments.

cs.RO

GR-3 Technical Report

We report our recent progress towards building generalist robot policies, the development of GR-3. GR-3 is a large-scale vision-language-action (VLA) model. It showcases exceptional capabilities in generalizing to novel objects, environments, and instructions involving abstract concepts. Furthermore, it can be efficiently fine-tuned with minimal human trajectory data, enabling rapid and cost-effective adaptation to new settings. GR-3 also excels in handling long-horizon and dexterous tasks, including those requiring bi-manual manipulation and mobile movement, showcasing robust and reliable performance. These capabilities are achieved through a multi-faceted training recipe that includes co-training with web-scale vision-language data, efficient fine-tuning from human trajectory data collected via VR devices, and effective imitation learning with robot trajectory data. In addition, we introduce ByteMini, a versatile bi-manual mobile robot designed with exceptional flexibility and reliability, capable of accomplishing a wide range of tasks when integrated with GR-3. Through extensive real-world experiments, we show GR-3 surpasses the state-of-the-art baseline method, $π_0$, on a wide variety of challenging tasks. We hope GR-3 can serve as a step towards building generalist robots capable of assisting humans in daily life.

cs.RO

Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in transferring human dexterity to robots, the efficacy of trained policies relies on the quality of human demonstration data. We bridge this gap with a hand--arm teleoperation system featuring: (1) a 20--DoF linkage--driven anthropomorphic robotic hand for biomimetic dexterity, and (2) an optimization--based motion retargeting for real--time, high--fidelity reproduction of intricate human hand motions and seamless hand--arm coordination. We validate the system via extensive empirical evaluations, including dexterous in-hand manipulation tasks and a long--horizon task requiring the organization of a cluttered makeup table randomly populated with nine objects. Experimental results demonstrate its intuitive teleoperation interface with real--time control and the ability to generate high--quality demonstration data. Please refer to the accompanying video for further details.

cs.RO

Multi-Modality Cardiac Image Computing: A Survey

Multi-modality cardiac imaging plays a key role in the management of patients with cardiovascular diseases. It allows a combination of complementary anatomical, morphological and functional information, increases diagnosis accuracy, and improves the efficacy of cardiovascular interventions and clinical outcomes. Fully-automated processing and quantitative analysis of multi-modality cardiac images could have a direct impact on clinical research and evidence-based patient management. However, these require overcoming significant challenges including inter-modality misalignment and finding optimal methods to integrate information from different modalities. This paper aims to provide a comprehensive review of multi-modality imaging in cardiology, the computing methods, the validation strategies, the related clinical workflows and future perspectives. For the computing methodologies, we have a favored focus on the three tasks, i.e., registration, fusion and segmentation, which generally involve multi-modality imaging data, \textit{either combining information from different modalities or transferring information across modalities}. The review highlights that multi-modality cardiac imaging data has the potential of wide applicability in the clinic, such as trans-aortic valve implantation guidance, myocardial viability assessment, and catheter ablation therapy and its patient selection. Nevertheless, many challenges remain unsolved, such as missing modality, combination of imaging and non-imaging data, and uniform analysis and representation of different modalities. There is also work to do in defining how the well-developed techniques fit in clinical workflows and how much additional and relevant information they introduce. These problems are likely to continue to be an active field of research and the questions to be answered in the future.

eess.IV

A Transformer-based Generative Adversarial Network for Brain Tumor Segmentation

Brain tumor segmentation remains a challenge in medical image segmentation tasks. With the application of transformer in various computer vision tasks, transformer blocks show the capability of learning long-distance dependency in global space, which is complementary with CNNs. In this paper, we proposed a novel transformer-based generative adversarial network to automatically segment brain tumors with multi-modalities MRI. Our architecture consists of a generator and a discriminator, which are trained in min-max game progress. The generator is based on a typical "U-shaped" encoder-decoder architecture, whose bottom layer is composed of transformer blocks with resnet. Besides, the generator is trained with deep supervision technology. The discriminator we designed is a CNN-based network with multi-scale $L_{1}$ loss, which is proved to be effective for medical semantic image segmentation. To validate the effectiveness of our method, we conducted experiments on BRATS2015 dataset, achieving comparable or better performance than previous state-of-the-art methods.

eess.IV

Prioritized Hierarchical Compliance Control for Dual-Arm Robot Stable Clamping

When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the robot even hurting the human. This research proposes a prioritized hierarchical compliance control to simultaneously deal with the two types of disturbances in the dual-arm robot clamping. First, we use hierarchical quadratic programming (HQP) to solve the robot inverse kinematics under the joint constraints and prioritize the compliance for the disturbance on the object over that on the robot arm. Second, we estimate the disturbance forces throughout the momentum observer with the F/T sensors and adopt admittance control to realize the compliances. Finally, we perform the verify experiments on a 14-DOF position-controlled dual-arm robot WalkerX, clamping a rigid object stably while realizing the compliance against the disturbances.

cs.RO

Right Ventricular Segmentation from Short- and Long-Axis MRIs via Information Transition

Right ventricular (RV) segmentation from magnetic resonance imaging (MRI) is a crucial step for cardiac morphology and function analysis. However, automatic RV segmentation from MRI is still challenging, mainly due to the heterogeneous intensity, the complex variable shapes, and the unclear RV boundary. Moreover, current methods for the RV segmentation tend to suffer from performance degradation at the basal and apical slices of MRI. In this work, we propose an automatic RV segmentation framework, where the information from long-axis (LA) views is utilized to assist the segmentation of short-axis (SA) views via information transition. Specifically, we employed the transformed segmentation from LA views as a prior information, to extract the ROI from SA views for better segmentation. The information transition aims to remove the surrounding ambiguous regions in the SA views. %, such as the tricuspid valve regions. We tested our model on a public dataset with 360 multi-center, multi-vendor and multi-disease subjects that consist of both LA and SA MRIs. Our experimental results show that including LA views can be effective to improve the accuracy of the SA segmentation. Our model is publicly available at https://github.com/NanYoMy/MMs-2.

eess.IV

Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware

Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical optimization has been generally accepted and utilized in torque-controlled robots. A good hierarchy is the prerequisite for WBC and can be predefined according to prior knowledge. However, the real-time computation would be problematic in the physical applications considering the computational complexity of WBC. For robots with proprioceptive actuation, the joint friction in gear reducer would also degrade the torque tracking performance. In our paper, a reasonable hierarchy of tasks and constraints is first customized for robot dynamic balancing. Then a real-time WBC is implemented via a computationally efficient WBC software. Such a method is solved on a modular master control system UBTMaster characterized by the real-time communication and powerful computing capability. After the joint friction being well covered by the model identification, extensive experiments on various balancing scenarios are conducted on a humanoid Walker3 with proprioceptive actuation. The robot shows an outstanding balance performance even under external impulses as well as the two feet of the robot suffering the inclination and shift disturbances independently. The results demonstrate that with the strict hierarchy, real-time computation and joint friction being handled carefully, the robot with proprioceptive actuation can manage the dynamic physical interactions with the unstructured environments well.

cs.RO