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Haolin Chen

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2 papers
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2

NeurIPS Conference 2025 Conference Paper

APIGen-MT: Agentic Pipeline for Multi-Turn Data Generation via Simulated Agent-Human Interplay

  • Akshara Prabhakar
  • Zuxin Liu
  • Ming Zhu
  • Jianguo Zhang
  • Tulika Manoj Awalgaonkar
  • Shiyu Wang
  • Zhiwei Liu
  • Haolin Chen

Training effective AI agents for multi-turn interactions requires high-quality data that captures realistic human-agent dynamics, yet such data is scarce and expensive to collect manually. We introduce APIGen-MT, a two-phase framework that generates verifiable and diverse multi-turn agent data. In the first phase, our agentic pipeline produces detailed task blueprints with ground-truth actions, leveraging a committee of LLM reviewers and iterative feedback loops. These blueprints are then transformed into complete interaction trajectories through simulated human-agent interplay. We train a family of models---the xLAM-2-fc-r series with sizes ranging from 1B to 70B parameters. Our models outperform frontier models such as GPT-4o and Claude 3. 5 on $\tau$-bench and BFCL benchmarks, with the smaller models surpassing their larger counterparts, particularly in multi-turn settings, while maintaining superior consistency across multiple trials. Comprehensive experiments demonstrate that our verified blueprint-to-details approach yields high-quality training data, enabling the development of more reliable, efficient, and capable agents. We open-source both the synthetic data collected and the trained xLAM-2-fc-r models to advance research in AI agents. Dataset: https: //huggingface. co/datasets/Salesforce/APIGen-MT-5k & Models: https: //huggingface. co/collections/Salesforce/xlam-2-67ef5be12949d8dcdae354c4

IROS Conference 2025 Conference Paper

Parameter Selections and Applications for Soft Bellows Actuators (SBAs) with Various Performance Metrics

  • Wenjing Zou
  • Zhekai Li
  • Ziting Xiao
  • Kailan Zheng
  • Chao Lin
  • Haolin Chen
  • Peifeng Yu
  • Yi Niu

Soft bellows actuators (SBAs), a particular type of soft pneumatic actuators (SPAs), are widely used in various applications, such as climbing robots, industrial grippers, and wearable devices. Despite their advantages of uniform motion and high efficiency, the design of SBAs often relies on experiential methods rather than standardized guidelines. This results in unclear optimization pathways and a misalignment between SBA performance and specific application requirements. This study identifies six critical parameters of linear pneumatic SBAs: Shore hardness (SH), number of units (N), thickness (t), mid-diameter (R m ), unit width (x), and unit depth (h). We explore how these parameters influence load capacity, displacement efficiency, and bending resistance. Experimental findings indicate that increasing SH, t, x, and h and decreasing N enhance load capacity. Moreover, increases in N, R m, x, and h, along with decreases in SH and t, improve displacement efficiency. Furthermore, enhancing SH, t, and R m and reducing N, x, and h strengthen bending resistance. Based on these insights, we design three types of SBAs tailored to specific tasks, which are implemented in a high-load pneumatic gripper, a high-efficiency displacement table, and a pneumatic worm-inspired climbing robot. This research contributes to the targeted design of SBAs, offering a novel approach for the effective optimization and performance prediction of particular SPAs, thereby facilitating the broader application of soft robots.