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. Mingyu Ding and Dr. Yao Mu. I have interned at Alibaba Qwen Team, NVIDIA Research, Shanghai AI Laboratory.

During 2024-2025, I was 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 (show selected / show all by date)

My current research interests lie in generative model as policy, embodied foundation model and agentic robotics.

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	EmbodiedRSI: Active Continual Robot Learning Through Hypothesis-Guided Co-Evolution [New!] Python Song, Zhixuan Liang^†, Kelsey Fu, Mengdi Wang, Junfeng Yang, Shilong Liu^† Under Review, 2026 Paper / Project page
	Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment [New!] Xiao Zhang, Yuxin Chen, Zhixuan Liang, Guojian Zhan, Chenran Li, Chenfeng Xu, Masayoshi Tomizuka, Yiheng Li Under Review*, 2026 Paper
	Beyond Future Prediction: Denoising as Generative Adaptation for Robot Control [New!] Zanyi Wang, Yuheng Lei, Dengyang Jiang, Ping Luo, Mengdi Wang, Zhixuan Liang^†, Shilong Liu^† Under Review, 2026 Paper / Project page / Code
	M²Tok: Multi-head Multi-codebook Discrete Action Tokenization for Vision-Language-Action Models Chunpu Xu, Zhixuan Liang^†, Yuhao Zhang, Chi-Min Chan, Jessie Wang, Yang Xiao, Mengkang Hu, Xiaokang Yang, Yao Mu^† ECCV, 2026
	Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data [New!] Ye Wang, Pei Lin, Xiong-Hui Chen, Haoqi Yuan, Zhixuan Liang, Yiyang Huang, Anzhe Chen, Zixing Lei, Jie Zhang, Tao Zhang, Haoyang Li, Tong Zhang, Chenxi Xiao, Ziyuan Jiao, Qin Jin CoRL, 2026 (Spotlight, Top 3.6%)* Paper / Project page / Video
	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 ICML, 2026 Paper / Huggingface
	Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models Haoqi Yuan, Zhixuan Liang, Anzhe Chen, Ye Wang, Haoyang Li, Pei Lin, Yiyang Huang, Zixing Lei, Tong Zhang, Jiazhao Zhang, Jie Zhang, Jingyang Fan, Gengze Zhou, Qihang Peng, Chenxu Lv, Xiaoyue Chen, An Yang, Fei Huang, Junyang Lin, Dayiheng Liu, Jingren Zhou, Chenfei Wu^†, Xiong-Hui Chen^† (Core Contributors) Technical Report, 2026* Paper / Blog
	Planning-aligned Token Compression for Long-Context Autonomous Driving Zhixuan Liang, Yuxiao Chen, Yurong You, Peter Karkus, Wenhao Ding, Boyi Li, Yan Wang, Alexander Popov, Maximilian Igl, Yiming Li, Danfei Xu, Nikolai Smolyanskiy, Boris Ivanovic, Ping Luo, Marco Pavone IEEE RA-L, 2026 Paper
	Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation Qwen Team (Zhixuan Liang as Contributor) Technical Report, 2026 Paper / Blog
	Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System Qwen Team (Zhixuan Liang as Contributor) Technical Report, 2026 Paper / Blog
	Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments Qwen Team (Zhixuan Liang as Core Contributor) Technical Report, 2026 Paper / Blog
	HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System Tianshuo Yang, Guanyu Chen, Yutian Chen, Zhixuan Liang, Yitian Liu, Zanxin Chen, Chunpu Xu, Haotian Liang, Jiangmiao Pang, Yao Mu, Ping Luo Under Review, 2026 Paper / Project page
	From Passive Observer to Active Critic: Reinforcement Learning Elicits Process Reasoning for Robotic Manipulation Yibin Liu, Yaxing Lyu, Daqi Gao, Zhixuan Liang, Weiliang Tang, Shilong Mu, Xiaokang Yang, Yao Mu ECCV, 2026* Paper
	R3DP: Real-Time 3D-Aware Policy for Embodied Manipulation Yuhao Zhang, Wanxi Dong, Yue Shi, Yi Liang, Jingnan Gao, Qiaochu Yang, Yaxing Lyu, Zhixuan Liang, Yibin Liu, Congsheng Xu, Xianda Guo, Wei Sui, Yaohui Jin, Xiaokang Yang, Yanyan Xu, Yao Mu^† ECCV, 2026 (Oral, Top 1.6%) Paper / Project page / Code
	UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data Sizhe Yang, Yiman Xie, Zhixuan Liang, Yang Tian, Jia Zeng, Dahua Lin, Jiangmiao Pang ICRA, 2026 Paper / Code / Project page
	VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory [New!] Yuheng Lei, Zhixuan Liang, Hongyuan Zhang, Ping Luo IEEE RA-L, 2026 Paper / Code
	ST-BiBench: Benchmarking Multi-Stream Multimodal Coordination in Bimanual Embodied Tasks for MLLMs Xin Wu, Zhixuan Liang, Yue Ma^†, Mengkang Hu, Zhiyuan Qin, Xiu Li^† ACM MM, 2026 Paper / Code / Project page
	MoEActok: A MoE-based Action Tokenizer for Vision-Language-Action Models Chunpu Xu, Zhixuan Liang, Tianshuo Yang, Chi-Min Chan, Yang Xiao, Jessie Wang, Xiaokang Yang, Yao Mu CVPR, 2026 Paper
	AdaMoE-VLA: Adaptive Mixture of Action Experts for Vision-Language-Action Learning 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
	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 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 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^‡^† ICML, 2026* Paper / Project page / Code
	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 3.0%)* ECCV @ MAAS Workshop, 2024 (Best Paper Award) Paper / 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
	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
	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 Paper / Huggingface
	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 Preprint, 2024 Paper
	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
	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
	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
	Performance-guided Reinforced Active Learning for Object Detection Zhixuan Liang, Xingyu Zeng, Rui Zhao, Ping Luo ICASSP, 2026 Paper / Poster
	Longitudinal Registration of Knee MRI Based on Femoral and Tibial Alignment Zhixuan Liang, Yin Guo, Chun Yuan ISMRM, 2021 Paper / Code / Video