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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.Eng., Department of Intelligent Science | 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

Conference Papers

Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly
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]

ManiFoundation Model for General-Purpose Robotic Manipulation
Zhixuan Xu*, Chongkai Gao*, Zixuan Liu*, Gang Yang*, Chenrui Tie, et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
[Paper] [Project] [Code]

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

Workshop Papers & Preprints

Manual2Skill++: Connector-Aware General Robotic Assembly
Chenrui Tie*, Shengxiang Sun*, Yudi Lin, et al.
arXiv preprint, 2025
[Paper]

AdaptPNP: Integrating Prehensile and Non-Prehensile Skills
Jinxuan Zhu*, Chenrui Tie*, Xinyi Cao*, et al.
arXiv preprint, 2025
[Paper] [Project]

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), 2024-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