Journal Articles
# Equal contribution, * Corresponding Author
Lessons Learned from the euROBIN Manipulation Skill Versatility Challenge at IROS 2024
Xudong Han, Haoran Sun, Ning Guo, Sheng Ge, Jia Pan, Fang Wan*, Chaoyang Song*
IEEE Robotics and Automation Practice, 2025
Project Page | DOI | GitHub | BibTeX
Bio-inspired rigid-Soft interaction for robust picking underwater
Shuqiao Zhong, Wanghongjie Qiu, Xudong Han, Chaoyang Song, Zhiyuan Zhou, Fang Wan*, Jian Lin*
Ocean Engineering, 346: 123774, 2026
Anchoring Morphological Representations Unlocks Latent Proprioception in Soft Robots
Xudong Han, Ning Guo, Ronghan Xu, Fang Wan*, and Chaoyang Song*
Advanced Intelligent Systems, 2500444, 2025
Project Page | DOI | GitHub | BibTeX
Proprioceptive State Estimation for Amphibious Tactile Sensing
Ning Guo#, Xudong Han#, Shuqiao Zhong#, Zhiyuan Zhou, Jian Lin, Jian S. Dai, Fang Wan*, and Chaoyang Song*
IEEE Transactions on Robotics, 40: 4684-4698, 2024
Project Page | Video | DOI | BibTeX
On Flange-Based 3d Hand-Eye Calibration for Soft Robotic Tactile Welding
Xudong Han, Ning Guo, Yu Jie, He Wang, Fang Wan*, and Chaoyang Song*
Measurement, 238: 115376, 2024
Proprioceptive Learning with Soft Polyhedral Networks
Xiaobo Liu#, Xudong Han#, Wei Hong, Fang Wan*, and Chaoyang Song*
The International Journal of Robotics Research, 43(12): 1916-1935, 2024
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Reconstructing Soft Robotic Touch via In‐Finger Vision
Ning Guo, Xudong Han, Shuqiao Zhong, Xiaobo Liu, Zhiyuan Zhou, Jian Lin, Fang Wan*, and Chaoyang Song*
Advanced Intelligent Systems, 6(10): 2400022, 2024
Project Page | Video | DOI | GitHub | Front Cover | BibTeX
Vision-based Tactile Intelligence with Soft Robotic Metamaterial
Tianyu Wu#, Yujian Dong#, Xiaobo Liu#, Xudong Han, Yang Xiao, Jinqi Wei, Fang Wan*, and Chaoyang Song*
Materials & Design, 238: 112629, 2024
Autoencoding a Soft Touch to Learn Grasping from On-land to Underwater
Ning Guo, Xudong Han, Xiaobo Liu, Shuqiao Zhong, Zhiyuan Zhou, Jian Lin, Jiansheng Dai, Fang Wan*, and Chaoyang Song*
Advanced Intelligent Systems, 6(1): 2300382, 2024
Video | DOI | GitHub | Front Cover | BibTeX
Bio-inspired Proprioceptive Touch of a Soft Finger with Inner-Finger Kinesthetic Perception
Xiaobo Liu, Xudong Han, Ning Guo, Fang Wan*, and Chaoyang Song*
Biomimetics, 8(6):501, 2023
Rigid–Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater
Haiyang Jiang, Xudong Han, Yonglin Jing, Ning Guo, Fang Wan and Chaoyang Song*
Frontiers in Robotics and AI, 8:787187, 2021
Conference Papers
# Equal contribution, * Corresponding Author
Vision-based Tactile Sensing for an Omni-adaptive Soft Finger
Xudong Han, Sheng Liu, Fang Wan* and Chaoyang Song*
2023 IEEE International Conference on Development and Learning (ICDL), Macau SAR, China, November 9-11 2023
Extended Abstract
# Equal contribution, * Corresponding Author
Towards Universal Action Embodiment with MagiClaw
Xudong Han, Tianyu Wu, Haoran Sun, Bangchao Huang, Zishang Zhang, Chaoyang Song*, Fang Wan*
Conference on Robot Learning (CoRL) 2025 Demos, Seoul, Korea, September 27-30 2025
Project Page | Video | URL
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun, Zishang Zhang, Bangchao Huang, Chaoyang Song*, Fang Wan*
Workshop on Making Sense of Data in Robotics: Composition, Curation, and Interpretability at Scale at CoRL 2025, Seoul, Korea, September 27-30 2025