Jiafeng Xu

Jiafeng Xu

Researcher

Publications

You can also find a full list of my publications on my Google Scholar profile.

Manipulation, Locomotion, Robot Learning

Flow-Based Policy for Online Reinforcement Learning

Lei Lv, Yunfei Li, Yu Luo, Fuchun Sun, Tao Kong, Jiafeng Xu*, Xiao Ma
The Conference and Workshop on Neural Information Processing Systems (NeurIPS), 2025 | DOI: https://doi.org/10.48550/arXiv.2506.12811

ByteWrist: A Parallel Robotic Wrist Enabling Flexible and Anthropomorphic Motion for Confined Spaces

Technical Report by ByteDance Seed Robotics, 2025 | DOI: https://doi.org/10.48550/arXiv.2509.18084

Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots

Technical Report by ByteDance Seed Robotics, 2025 | DOI: https://doi.org/10.48550/arXiv.2509.02530

GR-3 Technical Report

Technical Report by ByteDance Seed Robotics, 2025 | DOI: https://doi.org/10.48550/arXiv.2507.15493

World Model-based Perception for Visual Legged Locomotion

Hang Lai, Jiahang Cao, Jiafeng Xu*, Hongtao Wu, Yunfeng Lin, Tao Kong, Yong Yu, Weinan Zhang
IEEE International Conference on Robotics and Automation (ICRA), 2024 | DOI: https://doi.org/10.48550/arXiv.2409.16784

GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation

Technical Report by ByteDance AiLab Robotics Research, 2024 | DOI: https://doi.org/10.48550/arXiv.2410.06158

GR-1: Unleashing large-scale video generative pre-training for visual robot manipulation

Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, Tao Kong
The International Conference on Learning Representations (ICLR), 2023 | DOI: https://doi.org/10.48550/arXiv.2312.13139

MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation

Taozheng Yang, Ya Jing, Hongtao Wu, Jiafeng Xu(Equal Contribution), Kuankuan Sima, Guangzeng Chen, Qie Sima, Tao Kong
International Conference on Intelligent Robots and Systems (IROS), 2023 | DOI: 10.1109/IROS55552.2023.10342371

Optimal Control, Motion Planning

Locomotion generation for quadruped robots on challenging terrains via quadratic programming

Xinyang Jiang, Wanchao Chi, Yu Zheng, Shenghao Zhang, Yonggen Ling, Jiafeng Xu, Zhengyou Zhang
Autonomous Robots, 2022 | DOI: https://doi.org/10.1007/s10514-022-10068-3

Real-time Inertial Parameter Identification of Floating-Base Robots Through Iterative Primitive Shape Division

Jiafeng Xu, Yu Zheng, Xinyang Jiang, Sicheng Yang, Lingzhu Xiang, Zhengyou Zhang
IEEE International Conference on Robotics and Automation (ICRA), 2022 | DOI: 10.1109/ICRA46639.2022.9812214

Stable parking control of a robot astronaut in a space station based on human dynamics

Zhihong Jiang(tutor), Jiafeng Xu, Hui Li, Qiang Huang
IEEE Transactions on Robotics, 2019 | DOI: 10.1109/TRO.2019.2936302

The Design and Development of an Anthropomorphic Worm-Gear Driven Robotic Hand: BIT-JOCKO

Changjin Wang, Yao Sun, Jiafeng Xu, Xingdong Liu, Xinbing Zhou, Xiaopeng Chen
IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2019 | DOI: 10.1109/ICARM.2019.8834213
Best Paper Finalist, IEEE ICARM 2019

Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station

Jiang Zhihong(tutor), Xu Jiafeng, Li Hui, Huang Qiang
IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2018 | DOI: 10.1109/IISR.2018.8535762
Best Paper Finalist, IEEE ISR 2018