Zhixuan Liang

Zhixuan Liang 梁志烜

Ph.D Student

Department of Computer Science

The University of Hong Kong

I am a Ph.D. student (2022-) of Computer Science at The University of Hong Kong, fortunately advised by Prof. Ping Luo and Prof. Wenping Wang (IEEE & ACM Fellow). During my PhD, I collaborate closely with Dr. Yao Mu (now Assistant Professor at SJTU) and Dr. Mingyu Ding (now Assistant Professor at UNC Chapel Hill). I have interned at NVIDIA Research, Shanghai AI Laboratory and SenseTime.

During 2024-2025, I'm a visiting scholar at UC Berkeley MSC Lab, under the guidance of Prof. Masayoshi Tomizuka.

Prior to that, I obtained my bachelor's degree with first place in Automation from Zhejiang University in 2021 and received an honor degree from Chu Kochen Honors College. I was a member of ACEE. In 2020, I have been a research assistant at VIL of University of Washington, supervised by Dr. Yin Guo and Prof. Chun Yuan.

Publications

My current research interests lie in generative model for embodied AI, robot learning, and multimodal foundation models.

^†

	Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policies Zhixuan Liang, Yizhuo Li, Tianshuo Yang, Chengyue Wu, Sitong Mao, Liuao Pei, Tian Nian, Shunbo Zhou, Xiaokang Yang, Jiangmiao Pang, Yao Mu, Ping Luo Under Review, 2026 Paper / Code (also provide NPU example) [New!] / Huggingface
	VER: Vision Expert Transformer for Robot Learning via Foundation Distillation and Dynamic Routing Yixiao Wang, Mingxiao Huo, Zhixuan Liang, Yushi Du, Lingfeng Sun, Haotian Lin, Jinghuan Shang, Chensheng Peng, Mohit Bansal, Mingyu Ding, Masayoshi Tomizuka ICLR, 2026 [New!] Paper / Code / Project page
	Context Extension via Planning-aligned Token Compression for Monolithic AV Policy [New!] Zhixuan Liang, Yuxiao Chen, Yurong You, Peter Karkus, Wenhao Ding, Boyi Li, Yiming Li, Yan Wang, Danfei Xu, Boris Ivanovic, Nikolai Smolyanskiy, Ping Luo, Marco Pavone Under Review, 2026
	AdaMoE-VLA: Adaptive Mixture of Action Experts for Vision-Language-Action Learning [New!] Weijie Shen, Yitian Liu, Yuhao Wu, Zhixuan Liang^†*, Sijia Gu, Dehui Wang, Tian Nian, Lei Xu, Jiangmiao Pang, Yusen Qin, Wenbo Ding, Xinping Guan, Xiaokang Yang^†, Yao Mu^† Under Review*, 2026 Paper / Code / Project page
	RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation Tianxing Chen^#, Zanxin Chen, Baijun Chen, Zijian Cai, Yibin Liu, Zixuan Li, Qiwei Liang, Xianliang Lin, Yiheng Ge, Zhenyu Gu, Weiliang Deng, Yubin Guo, Tian Nian, Xuanbing Xie, Qiangyu Chen, Kailun Su, Tianling Xu, Guodong Liu, Mengkang Hu, Huan-ang Gao, Kaixuan Wang, Zhixuan Liang^#, Yusen Qin, Xiaokang Yang, Ping Luo^†, Yao Mu^#^† Under Review*, 2026 Paper / Project page / Code
	DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation (Formerly: DexDiffuser: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation) Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen, Wenqi Shao, Wei Zhan, Masayoshi Tomizuka, Ping Luo, Mingyu Ding CVPR, 2025 Paper / Code / Project page / Huggingface
	Plot2Code: A Comprehensive Benchmark for Evaluating Multi-modal Large Language Models in Code Generation from Scientific Plots Chengyue Wu, Zhixuan Liang, Yixiao Ge, Qiushan Guo, Zeyu Lu, Jiahao Wang, Ying Shan, Ping Luo NAACL, 2025 (Findings) Paper / Huggingface
	G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation Tianxing Chen, Yao Mu, Zhixuan Liang, Zanxin Chen, Shijia Peng, Qiangyu Chen, Mingkun Xu, Ruizhen Hu, Hongyuan Zhang, Ping Luo CVPR, 2025* Paper / Code / Project page
	HyCodePolicy: Hybrid Language Controllers for Multimodal Monitoring and Decision in Embodied Agents Yibin Liu, Zhixuan Liang^#*, Zanxin Chen, Tianxing Chen, Mengkang Hu, Wanxi Dong, Congsheng Xu, Zhaoming Han, Yusen Qin, Yao Mu^† ICCV @ MMR Workshop, 2025 Paper
	RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, Lunkai Lin, Zhiqiang Xie, Mingyu Ding, Ping Luo CVPR, 2025 (Highlight, Top 13.5%)* ECCV @ MAAS Workshop, 2024 (Best Paper Award) Paper / Code
	SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution Zhixuan Liang, Yao Mu, Hengbo Ma, Masayoshi Tomizuka, Mingyu Ding, Ping Luo CVPR, 2024 Paper / Project page / Code / Zhihu / Video
	RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis Yao Mu, Junting Chen, Qinglong Zhang, Shoufa Chen, Qiaojun Yu, Chongjian Ge, Runjian Chen, Zhixuan Liang, Mengkang Hu, Chaofan Tao, Peize Sun, Haibao Yu, Chao Yang, Wenqi Shao, Wenhai Wang, Jifeng Dai, Yu Qiao, Mingyu Ding, Ping Luo ICML, 2024 Paper / Project page / Code
	RoboScript: Code Generation for Free-Form Manipulation Tasks across Real and Simulation Junting Chen, Yao Mu, Qiaojun Yu, Tianming Wei, Silang Wu, Zhecheng Yuan, Zhixuan Liang, Chao Yang, Kaipeng Zhang, Wenqi Shao, Yu Qiao, Huazhe Xu, Mingyu Ding, Ping Luo Under Review, 2024 Paper
	AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners Zhixuan Liang, Yao Mu, Mingyu Ding, Fei Ni, Masayoshi Tomizuka, Ping Luo ICML, 2023 (Oral, Top 2.4%) Paper / Project page / Code / Zhihu
	MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL Fei Ni, Jianye Hao, Yao Mu, Yifu Yuan, Yan Zheng, Bin Wang, Zhixuan Liang ICML, 2023 Paper / Project page / Zhihu
	Performance-guided Reinforced Active Learning for Object Detection Zhixuan Liang, Xingyu Zeng, Rui Zhao, Ping Luo ICASSP, 2026 [New!] Paper
	Longitudinal Registration of Knee MRI Based on Femoral and Tibial Alignment Zhixuan Liang, Yin Guo, Chun Yuan ISMRM, 2021 Paper / Code / Video

Experiences

	Research Intern, AV Group, NVIDIA Research, Santa Clara, CA, USA & Hong Kong SAR. 2025.08 - 2025.12 Supervised by: Dr. Yuxiao Chen, Dr. Boris Ivanovic and Prof. Marco Pavone.
	Visiting Scholar, MSC Lab, University of California, Berkeley, California, CA, USA. 2024.06 - 2025.01 Topic: Planning with Diffusion Model. Supervised by: Prof. Masayoshi Tomizuka (NAE Member).
	Research Assistant, Vascular Imaging Lab, University of Washington, Seattle, WA, USA. 2020.06 - 2020.10 Topic: Multi-timepoint Registration of Knee MRI. Supervised by: Dr. Yin Guo and Prof. Chun Yuan.

Selected Honors and Awards

CIE(中国电子学会)-Tencent Doctoral Research Incentive Program, 2025
Hong Kong PhD Fellowship Scheme (HKPFS), 2022-2026
HKU Presidential PhD Scholarship (HKU-PS), 2022-2026
Y S and Christabel Lung Postgraduate Scholarship, 2022
National Scholarship, 2020
Wang Guosong Dean’s Award, Zhejiang University, 2021
Outstanding Graduate of Zhejiang Province, 2021
Finalist Award in Mathematical Contest in Modeling, 2020
First Prize in Mathematics Competition of Chinese College Students, 2020
Outstanding Reviewer, CVPR, 2025
Top Reviewer, NeurIPS, 2025
ByteDance Scholarship Finalist, 2025