Publications

2026

1. arXiv

   

   Heterogeneous Tactile Transformer

   Jianxin Bi, Qiang Wang, Jayaram Reddy, Kelvin Lin, Soibkhon Khajikhanov, Ruihan Gao, and Harold Soh

   Under Review, 2026

   Runner-Up Award at RSS Workshop on Tactile for FM

   Best Paper Runner-Up Award at the RSS 2026 Workshop on Tactile for FM.

   arXiv Bib Website

   @article{bi2026htt,
     title = {Heterogeneous Tactile Transformer},
     author = {Bi, Jianxin and Wang, Qiang and Reddy, Jayaram and Lin, Kelvin and Khajikhanov, Soibkhon and Gao, Ruihan and Soh, Harold},
     journal = {Under Review},
     year = {2026},
     eprint = {2606.29948},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2606.29948},
   }

2025

1. RA-L

   

   VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback

   Jianxin Bi, Kevin Yuchen Ma, Ce Hao, Mike Zheng Shou, and Harold Soh

   IEEE Robotics and Automation Letters (RA-L), 2025

   arXiv Bib Code Website

   @article{bi2025vlatouch,
     title = {VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback},
     author = {Bi, Jianxin and Ma, Kevin Yuchen and Hao, Ce and Shou, Mike Zheng and Soh, Harold},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
     eprint = {2507.17294},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2507.17294},
   }

2024

1. ICRA

   

   Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers

   Jianxin Bi, Kelvin Lim, Kaiqi Chen, Yifei Huang, and Harold Soh

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib Code

   @inproceedings{bi2025imitationlearninglimitedactions,
     title = {Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers},
     author = {Bi, Jianxin and Lim, Kelvin and Chen, Kaiqi and Huang, Yifei and Soh, Harold},
     booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
     eprint = {2410.07584},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2410.07584},
   }

2023

1. RoboNLP

   Primitive Skills Learning and Coordination with LLMs (PriLLM) for Human-AI Interaction

   Jianxin Bi, Junfeng Yue, and Harold Soh

   In RoboNLP Workshop at EMNLP 2023, 2023

   Bib

   @inproceedings{bi2023prillm,
     title = {Primitive Skills Learning and Coordination with LLMs (PriLLM) for Human-AI Interaction},
     author = {Bi, Jianxin and Yue, Junfeng and Soh, Harold},
     booktitle = {RoboNLP Workshop at EMNLP 2023},
     year = {2023},
     primaryclass = {cs.RO},
   }

2. ICRA

   Safety-Constrained Policy Transfer with Successor Features

   Zeyu Feng, Bowen Zhang, Jianxin Bi, and Harold Soh

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib Code

   @inproceedings{10161256,
     author = {Feng, Zeyu and Zhang, Bowen and Bi, Jianxin and Soh, Harold},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Safety-Constrained Policy Transfer with Successor Features},
     year = {2023},
     volume = {},
     number = {},
     pages = {7219-7225},
     keywords = {Automation;Reinforcement learning;Markov processes;Safety;Task analysis;Robots;Optimization},
   }

2022

1. AIES

   SCALES: From Fairness Principles to Constrained Decision-Making

   Sreejith Balakrishnan, Jianxin Bi, and Harold Soh

   In Proceedings of the 2022 AAAI/ACM Conference on AI, Ethics, and Society, Oxford, United Kingdom, 2022

   arXiv Bib

   @inproceedings{10.1145/3514094.3534190,
     author = {Balakrishnan, Sreejith and Bi, Jianxin and Soh, Harold},
     title = {SCALES: From Fairness Principles to Constrained Decision-Making},
     year = {2022},
     isbn = {9781450392471},
     publisher = {Association for Computing Machinery},
     address = {New York, NY, USA},
     booktitle = {Proceedings of the 2022 AAAI/ACM Conference on AI, Ethics, and Society},
     pages = {46–55},
     numpages = {10},
     location = {Oxford, United Kingdom},
     series = {AIES 22},
     github = {https://github.com/clear-nus/SCALES}
   }