CV

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Education

National University of Singapore, Singapore
PhD Student, School of Computing | Aug 2024 - Present

  • Advisor: Prof. Lin Shao

Peking University, Beijing, China
B.Sc., School of EECS | Sept 2021 - June 2024

  • School of Electrical Engineering and Computer Science (EECS)
  • Advisors: Prof. Hao Dong, Prof. He Wang

Peking University, Beijing, China
Undergraduate Student, School of Physics | Sept 2019 - June 2021

Publications

Selected Publications

AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation
Jinxuan Zhu*, Chenrui Tie*, Xinyi Cao*, Yuran Wang, Jingxiang Guo, Zixuan Chen, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2026
[Paper] [Project]

Manual2Skill++: Connector-Aware General Robotic Assembly from Instruction Manuals via Vision-Language Models
Chenrui Tie*, Shengxiang Sun*, Yudi Lin, Yanbo Wang, Zhongrui Li, Zhouhan Zhong, Jinxuan Zhu, Yiman Pang, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2026
[Paper]

Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
Chenrui Tie*, Shengxiang Sun*, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
Robotics: Science and Systems (RSS), 2025
[Paper] [Project] [Code]

ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy
Chenrui Tie*, Yue Chen*, Ruihai Wu*, Boxuan Dong, Zeyi Li, Chongkai Gao†, Hao Dong†
International Conference on Learning Representations (ICLR), 2025
[Paper] [Project] [Code]

Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Ruihai Wu*, Chenrui Tie*, Yushi Du, Yan Zhao, Hao Dong
IEEE/CVF International Conference on Computer Vision (ICCV), 2023
[Paper] [Project] [Code]

Other Publications

LISN: Language-Instructed Social Navigation with VLM-based Controller Modulating
Junting Chen*, Yunchuan Li*, Panfeng Jiang*, Jiacheng Du, Zixuan Chen, Chenrui Tie, Jiajun Deng, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2026
[Paper] [Project]

Goal-VLA: Image-Generative VLMs as Object-Centric World Models Empowering Zero-shot Robot Manipulation
Haonan Chen*, Jingxiang Guo*, Bangjun Wang, Tianrui Zhang, Xuchuan Huang, Boren Zheng, Yiwen Hou, Chenrui Tie, Jiajun Deng, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2026
[Paper] [Project]

ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
Jinxuan Zhu*, Zihao Yan*, Yangyu Xiao, Jingxiang Guo, Chenrui Tie, Xinyi Cao, Yuhang Zheng, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2026
[Paper] [Project]

ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu*, Chongkai Gao*, Zixuan Liu*, Gang Yang*, Chenrui Tie, Haozhuo Zheng, Haoyu Zhou, Weikun Peng, Debang Wang, Tianyi Chen, Zhouliang Yu, Lin Shao
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
[Paper] [Project] [Code]

Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
Gang Yang, Siyuan Luo, Yunhai Feng, Zhixin Sun, Chenrui Tie, Lin Shao
IEEE International Conference on Robotics and Automation (ICRA), 2024
[Paper] [Project] [Code]

EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
Yue Chen*, Chenrui Tie*, Ruihai Wu*, Hao Dong
CVPR 2024 Workshop EquiVision
[Paper]

Professional Services

Conference Reviewer

  • International Conference on Learning Representations (ICLR), 2025
  • International Conference on Robotics and Automation (ICRA), 2026

Journal Reviewer

  • IEEE Robotics and Automation Letters (RA-L), 2024-Present
  • IEEE Transactions on Robotics (T-RO), 2025-Present

Technical Skills

  • Programming Languages: Python, C++, MATLAB
  • Machine Learning Frameworks: PyTorch
  • Robotics Tools: Isaac Gym, Isaac Sim, Sapien, MuJoCo, PyBullet
  • Computer Vision: OpenCV, Open3D, Point Cloud Processing