Chenhao Li

Zhejiang University of Science and Technology

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Fei Xu

Institute of Process Engineering

Zhencai Zhang

Institute of Process Engineering

Zifeng Yang

Guangdong Academy of Medical Sciences

Wenjuan Fang

Shanghai University of Medicine and Health Sciences

Hongzhe An

Institute of Process Engineering

Chengrang Leng

Fuyang Normal University

Quanan Chen

Huazhong University of Science and Technology

Suojiang Zhang

Institute of Process Engineering

Qirui Liang

Tangshan College

Lufei Xiao

Chuzhou University

Cooperative Institutions

Chinese Academy of Sciences

University of Chinese Academy of Sciences

Institute of Process Engineering

Shandong University

State Key Laboratory of Multiphase Complex Systems

Tsinghua University

Jilin University

Zhejiang University

Taiyuan University of Technology

Huazhong University of Science and Technology

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DFM: Deep Fourier Mimic for Expressive Dance Motion Learning

arXiv (Cornell University) (2025)

Ryo WATANABE Chenhao Li Marco Hutter

As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive and restricted to simple motion playback, lacking the flexibility to incorporate additional tasks such as locomotion or gaze control during dancing. To overcome these challenges, we introduce Deep Fourier Mimic (DFM), a novel method that combines advanced motion representation with Reinforcement Learning (RL) to enable smooth transitions between motions while concurrently managing auxiliary tasks during dance sequences. While previous frequency domain based motion representations have successfully encoded dance motions into latent parameters, they often impose overly rigid periodic assumptions at the local level, resulting in reduced tracking accuracy and motion expressiveness, which is a critical aspect for entertainment robots. By relaxing these locally periodic constraints, our approach not only enhances tracking precision but also facilitates smooth transitions between different motions. Furthermore, the learned RL policy that supports simultaneous base activities, such as locomotion and gaze control, allows entertainment robots to engage more dynamically and interactively with users rather than merely replaying static, pre-designed dance routines.

10.48550/arxiv.2502.10980

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New insights into the Cenozoic lateral extrusion of crustal blocks on the southeastern edge of Tibetan Plateau: Evidence from paleomagnetic results from Paleogene sedimentary strata of the Baoshan Terrane

Tectonics (2016)

Yabo Tong Zhenyu Yang Xianqing Jing Yue Zhao Chenhao Li

Abstract In order to characterize the lateral extrusion of crustal material during the Cenozoic, we conducted a paleomagnetic study of the Eocene‐Oligocene Zhushan Formation and Paleocene Muguahe Formation in the central part of the Baoshan Terrane (BST), on the southeastern edge of Tibetan Plateau. A primary magnetic component and a remagentized component with the Miocene acquisition age were isolated from the Muguahe Formation and Zhushan Formation, respectively. These data indicate that the BST did not commence clockwise rotation in the period of the Paleocene and the Oligocene and that the BST experienced ~80° clockwise rotation relative to East Asia, since the Miocene. Combining with the documented history of crustal boundary strike‐slip faults on the southeastern edge of the Tibetan Plateau shows that the BST and Tengchong Terrane (TCT) first underwent latitudinal crustal shortening in the Oligocene, and the eastward extension was the main type of motion of the crustal material during this period, which induced the initial strike‐slip movement of their boundary faults. Since the Miocene, the main form of crustal motion of BST, TCT, and Simao Terrane was gradually transformed into clockwise rotation, which possibly indicates that the fold and thrusting fault system‐induced crustal shortening and thickening in the southeastern edge of the Tibetan Plateau have reached extremity, and the southeastern part of the Tibetan Plateau has already been uplifted to the similar elevation with today's elevation in the Miocene.

Clockwise

Paleogene

10.1002/2016tc004221

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Citations (33)

One-pot synthesis of bio-based polycarbonates from dimethyl carbonate and isosorbide under metal-free condition

Green Chemistry (2020)

Wenjuan Fang Zhencai Zhang Zifeng Yang Yaqin Zhang Fei Xu

A synthetic strategy for bio-based polycarbonate was developed via one-pot polymerization of renewable monomer isosorbide and dimethyl carbonate using eco-friendly organo-catalysts.

Dimethyl carbonate

Polycarbonate

Isosorbide

One-pot synthesis

10.1039/d0gc01440k

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Citations (31)

Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics

arXiv (Cornell University) (2025)

Chenhao Li Andreas Krause Marco Hutter

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture complex, partially observable, and stochastic dynamics. The proposed method employs a dual-autoregressive mechanism and self-supervised training to achieve reliable long-horizon predictions without relying on domain-specific inductive biases, ensuring adaptability across diverse robotic tasks. We further propose a policy optimization framework that leverages world models for efficient training in imagined environments and seamless deployment in real-world systems. Through extensive experiments, our approach consistently outperforms state-of-the-art methods, demonstrating superior autoregressive prediction accuracy, robustness to noise, and generalization across manipulation and locomotion tasks. Notably, policies trained with our method are successfully deployed on ANYmal D hardware in a zero-shot transfer, achieving robust performance with minimal sim-to-real performance loss. This work advances model-based reinforcement learning by addressing the challenges of long-horizon prediction, error accumulation, and sim-to-real transfer. By providing a scalable and robust framework, the introduced methods pave the way for adaptive and efficient robotic systems in real-world applications.

10.48550/arxiv.2501.10100

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CCDC 1841710: Experimental Crystal Structure Determination

The Cambridge Structural Database (2023)

Jie Liu Chengrang Leng Quanan Chen Qirui Liang Chenhao Li

An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.

10.5517/ccdc.csd.cc1ztg08

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Achieving Bright and Long‐Lived Aqueous Room‐Temperature Phosphorescence of Carbon Nitrogen Dots Through In Situ Host–Guest Binding

Advanced Materials (2024)

Jie Li Heng Zhou Shan Jin Bin Xu Qian Teng

Abstract The development of bright and long‐lived aqueous room‐temperature phosphorescent (RTP) materials holds paramount importance in broadening the application scope of RTP material system. However, the conventional RTP materials usually exhibit low efficiency and short lifetime in aqueous solution. Herein, an in situ host–guest strategy is proposed to achieve cyanuric acid (CA)‐derived phosphorescent carbon nitrogen dots (CNDs) composite (CNDs@CA) that demonstrates a significant enhancement of both quantum yield (QY) and lifetime mediated by water. Detailed investigations reveal that the robust hydrogen bonding networks between CNDs@CA and water effectively stabilize triplet excitons and suppress nonradiative decays, as well as facilitate efficient energy transfer from CA to CNDs, thereby prolonging the lifetime and enhancing the efficiency of RTP. The phosphorescent QY and lifetime of CNDs@CA can be increased to 26.89% (3.9‐fold increase) and 951.25 ms (5.5‐fold increase), respectively, with the incorporation of 50 wt% water under ambient conditions. Even in fully aqueous environments (with up to 400 wt% water added), CNDs@CA exhibits persistent water‐boosted RTP properties, demonstrating exceptional stability. The robust water‐boosted RTP property of CNDs@CA in aqueous solutions presents significant potential for high signal‐to‐noise ratio afterglow bioimaging as well as advanced information encryption.

Quantum yield

10.1002/adma.202401493

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Citations (23)

A new method to suppress the MHD instability of cylindrical liquid metal batteries

E3S Web of Conferences (2023)

Chenhao Li Ke Liu Jingru Guo Ben‐Wen Li

The magnetohydrodynamics (MHD) instabilities of liquid metal batteries (LMBs) severely limit the wide application and commercialization of LMB. A new technology is proposed, which is called the gridstructure (GS), so as to achieve the suppression effect of the MHD instabilities in LMB. The GS is composed of electrically and magnetically insulated partitions, which fully contact the negative electrode and extended to the positive electrode of the battery. It is found that the GS inserted inside the LMBs can change the distribution of the circumferential induced magnetic field inside the battery, effectively reduce the induced magnetic field and Lorentz force, and thus improve the stability of the LMB.

Lorentz force

Liquid metal

10.1051/e3sconf/202338503033

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Synthesis of bio-based poly(oligoethylene glycols-co-isosorbide carbonate)s with high molecular weight and enhanced mechanical properties via ionic liquid catalyst

Reactive and Functional Polymers (2020)

Chenhao Li Zhencai Zhang Zifeng Yang Wenjuan Fang Hongzhe An

Diphenyl carbonate

Isosorbide

Polycarbonate

Moiety

Diethylene glycol

10.1016/j.reactfunctpolym.2020.104689

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Citations (16)

Cost-Effective Synthesis of High Molecular Weight Biobased Polycarbonate via Melt Polymerization of Isosorbide and Dimethyl Carbonate

ACS Sustainable Chemistry & Engineering (2020)

Zifeng Yang Lei Liu Hongzhe An Chenhao Li Zhencai Zhang

Green synthesis of poly(isosorbide carbonate) (PIC) with remarkable properties is a huge challenge in industrial applications due to low molecular weight and harsh reaction conditions. We reported a novel pathway to synthesize high molecular weight PIC through melt polymerization of isosorbide (ISB) and dimethyl carbonate (DMC), which are derived from the biomass and CO2, respectively. The effects of metal ion-containing compound catalyst on chemical structures, terminal groups, and molecular weight of PIC in the process of melt polycondensation were studied. Compared with the best reported catalyst lithium acetylacetonate, the weight-average molecular weight (Mw) of PIC was increased by using our preferred catalyst sodium tert-butoxide from 46 500 to 55 100 with the ISB conversion up to 99.0%, and the reaction time was decreased from 12 h to only 2.5 h, as far as we know, which is the highest Mw value and the most efficient catalyst achieved by one-step method. According to the results of the experiment and simulation, we found that high catalytic performance was ascribed to the weak interaction energy of anion–cation of catalyst and the strong proton acceptance ability of the anion of the catalyst. Meanwhile, increasing the interaction energy of anion–cation of the catalyst could inhibit the occurrence of the methylation side reaction and interestingly the activated endohydroxyl groups of ISB were found to be more easily methylated. Finally, based on the captured and detected intermediates of the two-stages of the reaction, a possible mechanim for the synergetic effects of cation–anion through hydrogen bond formation was proposed.

Isosorbide

Dimethyl carbonate

Sodium carbonate

Diphenyl carbonate

10.1021/acssuschemeng.0c00430

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Citations (40)

A Novel Synthesis of Fe₃O₄@SiO₂@Au@Porous SiO₂ Structure for NIR Irradiation-Induced DOX Release and Cancer Treatment

Dose-Response (2020)

Meng Yang Wenhua Yang Liang Chen Mingjian Ding Chenhao Li

Doxorubicin (DOX) alone or in combination has been widely used for numerous cancers, including breast, lung, bladder, and so on. In this article, a core/shell/shell structured Fe 3 O 4 @SiO 2 @Au@porous SiO 2 particles for the drug delivery and release of DOX was demonstrated, with the aid of near-infrared irradiation. Fe 3 O 4 was used to direct the transportation and delivery of the drug-loaded composite to the target tissues and organs under an external magnetic field, the first layer of SiO 2 was used for Au nanoparticle attachment, Au acted as the agent for light–thermal conversion, and the porous SiO 2 was used to load DOX. The morphology of the nanoparticles was studied by transmission electron microscopy, and the porous structure was characterized by N 2 adsorption/desorption curves. The drug delivery system displayed high drug loading capacity, and the release behavior was largely impacted by the environmental pH. Furthermore, the cytotoxicity of Fe 3 O 4 @SiO 2 @Au@porous SiO 2 and DOX loaded Fe 3 O 4 @SiO 2 @Au@porous SiO 2 was studied through in vitro 3-(4,5-Dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide cell viability assay.

10.1177/1559325820906662

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Citations (12)