arXiv subjects

Xincheng Tang

Publications and source records attributed to Xincheng Tang.

4 recordsLinked to original sources

arXiv2026

Video2DoorTraversal: Push Door Traversal via Simulated Door Twins

Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2DoorTraversal, a single-video real-to-sim-to-real framework for wheel-legged mobile manipulators. Given one RGB video of a real door, DoorTwin reconstructs an instance-aligned, articulated, and simulation-ready door twin with realistic geometry and appearance. A simulation-in-the-loop agent converts the recovered articulation into a parameterized skill program and iteratively refines failed rollouts to generate physically executable demonstrations. These demonstrations are used to train ArticuACT, a dual-depth policy that predicts coordinated base, arm, and gripper commands using robot-centric camera conditioning and interaction-aware supervision. With all perception and policy inference running onboard, the system achieves a 96.57% average success rate across five real doors and an 80.95% zero-shot success rate on structurally similar unseen doors, while completing the full approach, opening, and traversal sequence in approximately 13s on average. Project Page: https://video2doortraversal.github.io/.

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arXiv2026

StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In this paper, we propose StairMaster, a novel three-stage reinforcement learning framework for stable locomotion on such extreme discontinuous terrains. Our architecture integrates a Cross-Attention mechanism to extract structural features from noisy depth data, alongside a Spatial-aware Recurrent Unit (SRU) that maintains robust spatio-temporal memory to mitigate perception blind spots. To bridge the sim-to-real gap in depth perception, we propose a high-fidelity sim-to-real depth sensor modeling pipeline that faithfully replicates real-world sensor artifacts. Additionally, we employ a 3D waypoint-guided active perception reward for proactive sensing, alongside hollow gap kinematic and stair edge penalties to ensure precise foothold placement. We successfully deployed StairMaster on a Unitree Go2 robot, demonstrating its ability to conquer hollow stairs with an unprecedented incline of up to 55$^\circ$ through zero-shot transfer. To the best of our knowledge, this is the first RL-based policy to achieve such steep hollow stair climbing in real-world environments. Project Website: https://sivan666666.github.io/StairMaster/.

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arXiv2026

SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation

RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simulated demonstrations per task, reaching above 80% per-task and 91% average real-world success across 5 diverse deformable tasks including plastic-bag manipulation, without teleoperation or per-task calibration. SimWeaver combines a reliable measurement-backed simulator (SimWeaver-Sim) with an extensible asset framework supporting single-image generation(SimWeaver-Asset), a deterministic topology-aware trajectory synthesizer (SimWeaver-Syn), and a sim-to-real protocol with ISP-aware photometric augmentation (SimWeaver-Real). On silk grasping, the sim-trained policy reaches 100% under visual distribution shifts where real-data baselines drop to 9-70%, at two orders of magnitude lower per-trajectory cost. We will release SimWeaver and a representative asset subset. Project page: https://simweaver.github.io/

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arXiv2025

Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator

While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic non-rigid body simulators. In this paper, we present Real Garment Benchmark (RGBench), a comprehensive benchmark for robotic manipulation of garments. It features a diverse set of over 6000 garment mesh models, a new high-performance simulator, and a comprehensive protocol to evaluate garment simulation quality with carefully measured real garment dynamics. Our experiments demonstrate that our simulator outperforms currently available cloth simulators by a large margin, reducing simulation error by 20% while maintaining a speed of 3 times faster. We will publicly release RGBench to accelerate future research in robotic garment manipulation. Website: https://rgbench.github.io/

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