📝 Publications
* denotes equal contribution.
Selected Publications
DexEyeGrasp: Learning Dexterous Grasping in Clutter with FingerEye Observations
Zixuan Liu*, Lizhi Bi*, Xicheng Gong, Ruoyi Qiao, Wei Ken Ng, Tianrui Zhang, Xin Fei, Yiwen Hou, Zhixuan Xu, Lin Shao
Manuscript under review, 2026.
ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation
Zixuan Liu*, Ruoyi Qiao*, Chenrui Tie, Xuanwei Liu, Yunfan Lou, Chongkai Gao, Zhixuan Xu, Lin Shao
[Spotlight] RSS 2026 Workshop “Dexterous Manipulation: Scalable Learning for Human-Level Skills”
What Makes Value Learning Efficient in Residual Reinforcement Learning?
Guozheng Ma, Lu Li, Haoyu Wang, Zixuan Liu, Pierre-Luc Bacon, Dacheng Tao
[Spotlight] International Conference on Machine Learning (ICML), 2026
VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models
Chongkai Gao, Zixuan Liu, Zhenghao Chi, Junshan Huang, Xin Fei, Yiwen Hou, Yuxuan Zhang, Yudi Lin, Zhirui Fang, Zeyu Jiang, Lin Shao
Annual Conference on Neural Information Processing Systems (NeurIPS), 2025
[Outstanding] NeurIPS 2025 Workshop “Embodied World Models for Decision Making”
[Spotlight] CoRL 2025 Eval-Deploy Workshop
DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments
Lixin Xu*, Zixuan Liu*, Zhewei Gui, Jingxiang Guo, Zeyu Jiang, Zhixuan Xu, Chongkai Gao, Lin Shao
[Spotlight] ICRA 2025 Workshop “Handy Moves: Dexterity in Multi-Fingered Hands”
ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu*, Chongkai Gao*, Zixuan Liu*, Gang Yang*, Chenrui Tie, Haozhuo Zheng, Haoyu Zhou, Weikun Peng, Debang Wang, Tianyi Chen, Zhouliang Yu, Lin Shao
[Oral] International Conference on Intelligent Robots and Systems (IROS), 2024
Revisiting Plasticity in Visual Reinforcement Learning: Data, Modules and Training Stages
Guozheng Ma*, Lu Li*, Sen Zhang, Zixuan Liu, Zhen Wang, Yixin Chen, Li Shen, Xueqian Wang, Dacheng Tao
International Conference on Learning Representations (ICLR), 2024
OpenReview | Code | Bibtex
Dynamics Adapted Imitation Learning
Zixuan Liu, Liu Liu, Bingzhe Wu, Lanqing Li, Xueqian Wang, Bo Yuan, Peilin Zhao
Transactions on Machine Learning Research (TMLR), 2023
Openreview | Code | Bibtex
Other Publications
Tiny Papers @ ICLR 2024DFWLayer: Differentiable Frank-Wolfe Optimization Layer, Zixuan Liu, Liu Liu, Xueqian Wang, Peilin Zhao, [Notable] Tiny Papers @ ICLR 2024. OpenReview | Code | BibtexTNNLSNN-Based Reinforcement Learning Optimal Control for Inequality-Constrained Nonlinear Discrete-Time Systems With Disturbances, Shu Li, Liang Ding, Miao Zheng, Zixuan Liu, Xinyu Li, Huaiguang Yang, Haibo Gao, Zongquan Deng, IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 2023. IEEE | Bibtex