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Xin Duan (段欣)
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Xin Duan

段欣

I am a third-year Master student in the MARS Lab at ShanghaiTech University, advised by Prof. Sören Schwertfeger. My research interest is focused on Embodied AI.

I also received my Bachelor's degree in Computer Science and Technology from ShanghaiTech.

Previously, I was a student researcher at the Shanghai Qi Zhi Institute under the supervision of Prof. Hang Zhao and an R&D intern at Fourier Intelligence.

Publications

Projects

Completed

Stand Doggybot

An course project I advised about quadrupedal robots.

Locomotion Reinforcement Learning
Completed

Manipulation with Bimanual Dexterous Hands

This is an project about bimanual dexterous manipulation on Fourier GR1/2 humanoid robots. Project Overview - Enhanced the generalization of object positions in dual-arm dexterous humanoid robots Fourier gr1/2. - Identified shortcut learning as a key generalization bottleneck for algorithms like ACT and Diffusion Policy. This was accomplished by applying visualization techniques such as Grad-CAM for attribution analysis and conducting comparative experiments across different observation and action spaces. - Fundamentally improved training data quality and generalization potential by optimizing the data collection pipeline. A standardized data collection process was established, incorporating diverse action spaces, quantitative metrics, and realistic human-induced perturbations. By further decoupling hand and arm motions, this ultimately led to a significant improvement in visual understanding and positional generalization for manipulation tasks.

Manipulation Imitation Learning