Welcome to HorizonRobotics RobotLab

About

Welcome to the Robot Lab of Horizon Robotics. Our mission is to build cutting edge and fully open-sourced Embodied AI Algorithms and infrastructures. Together with Horizon’s computing platform, we wish to empower the future of robots with all types of embodiment.

News

• [2025.09] 2 papers accepted to NeurIPS25

• [2025.06] 1 paper accepted to IROS25

• [2025.06] In RoboTwin Dual-Arm Collaboration Challenge 2nd MEIS Workshop@CVPR2025, we won 🥇first place in Real-world Track and 🥈second place in Simulation Track

• [2025.05] In International Humanoid Robot Skills Competition held by Zhangjiang, Shanghai, we won 🥇first place in the RoboTwin Bimanual Collaboration Simulation Challenge

• [2025.05] We are holding the “Edge-deployable Manipulation Algorithms” track in the 19th “Challenge Cup” (挑战杯) National College Extracurricular Academic Science and Technology Competition

• [2025.05] The first version of RoboOrchard Lab released

Projects

RoboOrchard

RoboOrchard is a collection of tools and frameworks designed to streamline the entire process of robotics research and development, from simulation to real-world application.

• RoboOrchardBuild: A set of tools designed to simplify the build process for the RoboOrchard project.

  Code | Pypi

• RoboOrchardCore: The core package of the project RoboOrchard, which provides the basic infrastructure for the framework, such as configuration management, data structure, environment abstraction, etc.

  Code | Docs | Pypi

• RoboOrchardSchemas: A library of data models for the RoboOrchard project.

  Code | Pypi

• RoboOrchardLab: Training and evaluating embodied AI algorithm

  Code | Docs | Pypi | Model Zoo

• RoboOrchardGraspLabel: A set of tools to generate grasp labels for objects

  Code

• RoboOrchardDataRecorder: A comprehensive and robust suite of tools designed for high-fidelity data acquisition in robotics, with a primary focus on the ROS 2 ecosystem.

  Code

• RoboOrchardDeploy: A set of tools for deploy, including calibration and model inference.

  Code

Publications

	H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation Hongzhe Bi, Lingxuan Wu, Tianwei Lin, Hengkai Tan, Zhizhong Su, Hang Su, Jun Zhu Arxiv 2025 Webpage | Paper | Code
	MonoDream: Monocular Vision-Language Navigation with Panoramic Dreaming Shuo Wang, Yongcai Wang, Wanting Li, Yucheng Wang, Maiyue Chen, Kaihui Wang, Zhizhong Su, Xudong Cai, Yeying Jin, Deying Li, Zhaoxin Fan Arxiv 2025 Webpage | Paper
	Uni3R: Unified 3D Reconstruction and Semantic Understanding via Generalizable Gaussian Splatting from Unposed Multi-View Images Xiangyu Sun, Haoyi Jiang, Liu Liu, Seungtae Nam, Gyeongjin Kang, Xinjie Wang, Wei Sui, Zhizhong Su, Wenyu Liu, Xinggang Wang, Eunbyung Park Arxiv 2025 Webpage | Paper | Code
	IGFuse: Interactive 3D Gaussian Scene Reconstruction via Multi-Scans Fusion Wenhao Hu, Zesheng Li, Haonan Zhou, Liu Liu, Xuexiang Wen, Zhizhong Su, Xi Li, Gaoang Wang Arxiv 2025 Webpage | Paper | Code
	DreamLifting: A Plug-in Module Lifting MV Diffusion Models for 3D Asset Generation Ze-Xin Yin, Jiaxiong Qiu, Liu Liu, Xinjie Wang, Wei Sui, Zhizhong Su, Jian Yang, Jin Xie Arxiv 2025 Webpage
	FineGrasp: Towards Robust Grasping for Delicate Objects Yun Du, Mengao Zhao, Tianwei Lin, Yiwei Jin, Chaodong Huang, Zhizhong Su Arxiv 2025 Webpage | Paper | Code
	EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence Xinjie Wang, Liu Liu, Yu Cao, Ruiqi Wu, Wenkang Qin, Dehui Wang, Wei Sui, Zhizhong Su Arxiv 2025 Webpage | Paper | Code | HF Demo
	RoboTransfer: Geometry-Consistent Video Diffusion for Robotic Visual Policy Transfer Liu Liu, Xiaofeng Wang, Guosheng Zhao, Keyu Li, Wenkang Qin, Jiaxiong Qiu, Zheng Zhu, Guan Huang, Zhizhong Su Arxiv 2025 Webpage | Paper | Code
	DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Data Ruqi Wu, Xinjie Wang, Liu Liu, Chunle Guo, Jiaxiong Qiu, Chongyi Li, Lichao Huang, Zhizhong Su, Ming-Ming Cheng NeurIPS 2025 Webpage | Paper | Code
	SEM: Enhancing Spatial Understanding for Robust Robot Manipulation Xuewu Lin, Tianwei Lin, Lichao Huang, Hongyu Xie, Yiwei Jin, Keyu Li, Zhizhong Su Arxiv 2025 Paper | Code
	Aux-Think: Exploring Reasoning Strategies for Data-Efficient Vision-Language Navigation Shuo Wang, Yongcai Wang, Wanting Li, Xudong Cai, Yucheng Wang, Maiyue Chen, Kaihui Wang, Zhizhong Su, Deying Li, Zhaoxin Fan NeurIPS 2025 Webpage | Paper | Code
	GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial Fusion SLAM for Dynamic Legged Robotics Tingyang Xiao, Xiaolin Zhou, Liu Liu, Wei Sui, Wei Feng, Jiaxiong Qiu, Xinjie Wang, Zhizhong Su IROS 2025 Paper | Code
	GaussTR: Foundation model-aligned gaussian transformer for self-supervised 3d spatial understanding Haoyi Jiang, Liu Liu, Tianheng Cheng, Xinjie Wang, Tianwei Lin, Zhizhong Su, Wenyu Liu, Xinggang Wang CVPR 2025 Webpage | Paper | Code
	BIP3D: Bridging 2d images and 3d perception for embodied intelligence Xuewu Lin, Tianwei Lin, Lichao Huang, Hongyu Xie, Zhizhong Su CVPR 2025 Webpage | Paper | Code
	Gaussian Object Carver: Object-Compositional Gaussian Splatting with surfaces completion Liu Liu, Xinjie Wang, Jiaxiong Qiu, Tianwei Lin, Xiaolin Zhou, Zhizhong Su Arxiv 2024 Paper
	GLS: Geometry-aware 3D Language Gaussian Splatting Jiaxiong Qiu, Liu Liu, Xinjie Wang, Tianwei Lin, Wei Sui, Zhizhong Su Arxiv 2024 Webpage | Paper | Code

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