BEIJING — The Chinese authorities on Tuesday released a founder of a research institute who was instrumental in helping the legal activist Chen Guangcheng gain asylum in the United States after he escaped house arrest three years ago.

The founder, Guo Yushan, a scholar who led the Transition Institute, was released from custody along with He Zhengjun, the administrative director of the now-closed institute, according to family members and lawyers.

Both men have been accused of illegally printing books and other publications, charges that remain in effect while they are free on bail.

Their release, nearly a year after they were detained, came before President Xi Jinping of China travels to the United States next week for his first state visit. Some analysts interpreted the timing as an attempt by Beijing to blunt potential criticism in Washington of China’s human rights record.