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[..] (it passes check_urdf) [..] While when I roslaunch display.launch, things go wrong. [..]

There are various different xml parsers used in ROS, so one could be more lenient than another.

xml.parsers.expat.ExpatError: unclosed token: line 1, column 0

There seems to be something wrong with your urdf (more specifically, the xml making up your urdf) that joint_state_publisher (more specifically: expat) is not willing to ignore (but according to you, check_urdf (which uses tinxyml) apparently is).

You'll have to check the contents of zhuangpei_simplified.URDF in a text editor, and make sure it's alright.

Without access to the urdf itself, I don't think we can be of any more help.