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Kechun Xu

I receive my PhD (2021 - 2026) in Control Science and Engineering department at Zhejiang University. I belong to Robotics Lab, advised by Prof. Rong Xiong and Yue Wang. I was a visiting student at MSC Lab in UC Berkeley, advised by Prof. Masayoshi Tomizuka. I also spent time in Alibaba Cloud and ZJ Humanoid as a research intern.

I obtained my B.Eng (2017 - 2021) in Control Science and Engineering and Mechanical and Electronic Engineering from Zhejiang University with an honor degree at Chu Kochen Honor College.

My current research interests lie in robotic manipulation, robot learning, and embodied AI. My research goal is to develop human-level intelligence in robotic manipulation, including behavior dexterity, learning efficiency, and open-world generalization.

Email / Google Scholar / Github / Twitter / LinkedIn

Photo taken by Zizhang Li.

Recent News

[09/2026] Two papers APT and TDC accepted to CoRL 2026.
[06/2026] One paper APT is released on arXiv.
[05/2026] One paper UniMM accepted to T-PAMI 2026.
[03/2026] Honored to receive EAI-100 Next 20 Award.
[02/2026] Invited talk at CAA Qingfan-series Talk.
[02/2026] Invited talk on BayesVLA at Lumina Talk.
[01/2026] A2 and E2VLA accepted to ICRA 2026.
[01/2026] One paper PolyFold accepted to T-ASE 2026.
[08/2025] One paper A2 accepted to T-ASE 2025.
[05/2025] Invited talk at 3D视觉工坊.
[04/2025] Invited talk at Autonomous Robotic Technology Seminar (ARTS).
[12/2024] Invited talk at TEA Lab, Tsinghua University.
[11/2024] Honored to receive ARTS Scholarship (Top 5 in China).
[10/2024] One paper GSP accepted to T-RO 2024.
[02/2023] Two papers VLG and FMP accepted to ICRA 2023.
[02/2022] One paper EOM accepted to ICRA 2022.
[06/2021] One paper EPG accepted to RA-L 2021.

Publications

	DexSeed: Expanding Human Hand–Object Interactions into Robot Demonstrations for Dexterous Policy Learning Huaijin Pi, Zehong Shen, Yong Wang, Kechun Xu, Changpeng Wang, Dingkun Wei, Xueyang Wang, Wenjia Wang, Yujun Shen, Xing Zhu, Taku Komura Under Review project
	APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies Kechun Xu, Zhenjie Zhu, Anzhe Chen, Rong Xiong, Yue Wang Conference on Robot Learning (CoRL 2026) arXiv / project / code
	Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation Yifei Yang, Anzhe Chen, Zhenjie Zhu, Kechun Xu, Yunxuan Mao, Yufei Wei, Lu Chen, Rong Xiong, Yue Wang Conference on Robot Learning (CoRL 2026) arXiv / project / video
	Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy Kechun Xu, Zhenjie Zhu, Anzhe Chen, Shuqi Zhao, Qing Huang, Yifei Yang, Haojian Lu, Rong Xiong, Masayoshi Tomizuka, Yue Wang Under Review arXiv / project / code / video
	Toward Embodiment Equivariant Vision-Language-Action Policy Anzhe Chen, Yifei Yang, Zhenjie Zhu, Kechun Xu, Zhongxiang Zhou, Rong Xiong, Yue Wang IEEE International Conference on Robotics and Automation (ICRA 2026) arXiv / code
	Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter Kechun Xu, Xunlong Xia, Kaixuan Wang, Yifei Yang, Yunxuan Mao, Bing Deng, Jieping Ye, Rong Xiong, Yue Wang IEEE Transactions on Automation Science and Engineering (T-ASE 2025) Conference on Robot Learning (CoRL 2025), GenPriors Workshop IEEE International Conference on Robotics and Automation (ICRA 2026) arXiv / ieee / project / code / video
	UniMM: A Unified Mixture Model Framework for Multi-Agent Simulation Longzhong Lin, Xuewu Lin, Kechun Xu, Haojian Lu, Lichao Huang, Rong Xiong, Yue Wang IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI 2026) arXiv / project / code
	PolyFold: A Generalizable Framework for Language-Conditioned Bimanual Cloth Folding Haozhe Du, Kechun Xu, Rong Xiong, Yue Wang IEEE Transactions on Automation Science and Engineering (T-ASE 2026) arXiv / project
	Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactions He Zhu, Quyu Kong, Kechun Xu, Xunlong Xia, Bing Deng, Jieping Ye, Rong Xiong, Yue Wang IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2025) arXiv / project / code / dataset
	Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior Kechun Xu, Zhongxiang Zhou, Jun Wu, Haojian Lu, Rong Xiong, Yue Wang IEEE Transactions on Robotics (T-RO 2024) IEEE International Conference on Robotics and Automation (ICRA 2025) arXiv / ieee / project / code

Adapting for Calibration Disturbances: A Neural Uncalibrated Visual Servoing Policy
Hongxiang Yu, Anzhe Chen, Kechun Xu, Dashun Guo, Yufei Wei, Zhongxiang Zhou, Xuebo Zhang, Yue Wang, Rong Xiong
IEEE International Conference on Robotics and Automation (ICRA 2024)

ieee / project

A Hyper-network Based End-to-end Visual Servoing with Arbitrary Desired Poses
Hongxiang Yu, Anzhe Chen, Kechun Xu, Zhongxiang Zhou, Wei Jing, Yue Wang, Rong Xiong
IEEE Robotics and Automation Letter (RA-L 2023)
IEEE International Conference on Robotics and Automation (ICRA 2024)

arXiv / ieee

Object-centric Inference for Language Conditioned Placement: A Foundation Model based Approach
Zhixuan Xu, Kechun Xu, Yue Wang, Rong Xiong
IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2023)

arXiv / ieee

A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter
Kechun Xu, Shuqi Zhao, Zhongxiang Zhou, Zizhang Li, Huaijin Pi, Yifeng Zhu, Yue Wang, Rong Xiong
IEEE International Conference on Robotics and Automation (ICRA 2023)

arXiv / ieee / code / video

Failure-aware Policy Learning for Self-assessable Robotics Tasks
Kechun Xu, Runjian Chen, Shuqi Zhao, Zizhang Li, Hongxiang Yu, Ci Chen, Yue Wang, Rong Xiong
IEEE International Conference on Robotics and Automation (ICRA 2023)

arXiv / ieee / video

Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
Liang Xie, Hongxiang Yu, Kechun Xu, Tong Yang, Minhang Wang, Haojian Lu, Rong Xiong, Yue Wang
Review of Scientific Instruments (RSI 2023)

arXiv / code

E-NeRV: Expedite Neural Video Representation with Disentangled Spatial-Temporal Context
Zizhang Li, Mengmeng Wang, Huaijin Pi, Kechun Xu, Jianbiao Mei, Yong Liu
European Conference on Computer Vision (ECCV 2022)

arXiv / code

Efficient Object Manipulation to an Arbitrary Goal Pose: Learning-based Anytime Prioritized Planning
Kechun Xu, Hongxiang Yu, Renlang Huang, Dashun Guo, Yue Wang, Rong Xiong
IEEE International Conference on Robotics and Automation (ICRA 2022)

arXiv / ieee / video

Neural Motion Prediction for In-flight Uneven Object Catching
Hongxiang Yu, Dashun Guo, Huan Yin, Anzhe Chen, Kechun Xu, Yue Wang, Rong Xiong
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

arXiv / ieee / project / video

Efficient Learning of Goal-oriented Push-grasping Synergy in Clutter
Kechun Xu, Hongxiang Yu, Qianen Lai, Yue Wang, Rong Xiong
IEEE Robotics and Automation Letter (RA-L with IROS 2021 option)

arXiv / ieee / code / video

Services

Reviewer of T-RO, T-MECH, T-ASE, RA-L, T-CDS, RSS, CoRL, ICRA, IROS, Humanoids.

Executive Committee Member of ARTS 2025.

Volunteer of IROS 2025, and CCIR 2022.

Selected Honors and Awards

EAI-100 Next 20 Award, 2026.

Honorable Mention, The Waymo Open Sim Agents Challenge, 2025.

Autonomous Robotic Technology Seminar (ARTS) Scholarship, top5, China, 2024.

Finalist, ByteDance Scholarship, top40, China and Singapore, 2024.

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