Publications

E2HiL: Entropy-Guided Sample Selection for Efficient Real-World Human-in-the-Loop Reinforcement Learning
Haoyuan Deng, Yudong Lin, Yuanjiang Xue, Haoyang Du, Qianzhun Wang, Boyang Zhou, Zhenyu Wu, Ziwei Wang
IEEE Robotics and Automation Letters (RA-L), 2026
[PDF][Website][Video][Appendix]

DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation
Ziyu Shan, Yuheng Zhou, Gaoyuan Wu, Ziheng Ji, Zhenyu Wu, Ziwei Wang
IEEE Robotics and Automation Letters (RA-L), 2026
[PDF][Code]

SIMART: Decomposing Monolithic Meshes into Sim-ready Articulated Assets via MLLM
Chuanrui Zhang, Minghan Qin, Yuang Wang, Baifeng Xie, Hang Li, Ziwei Wang
ACM SIGGRAPH, 2026
[PDF][Video][Website]

UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Pair
Chuanrui Zhang, Yingshuang Zou, ZhengXian Wu, Yonggen Ling, Yuxiao Yang, Ziwei Wang
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
[PDF][Code][Website]

VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning via Online Monte Carlo Tree Search
Wenkai Guo, Guanxing Lu, Haoyuan Deng, Zhenyu Wu, Yansong Tang, Ziwei Wang
IEEE International Conference on Robotics and Automation (ICRA), 2026
[PDF]

MAP-VLA: Memory-Augmented Prompting for Vision-Language-Action Model in Robotic Manipulation
Runhao Li, Wenkai Guo, Zhenyu Wu, Changyuan Wang, Haoyuan Deng, Zhenyu Weng, Yap-Peng Tan, Ziwei Wang
IEEE International Conference on Robotics and Automation (ICRA), 2026
[PDF]

Safebimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation
Haoyuan Deng, Wenkai Guo, Qianzhun Wang, Zhenyu Wu, Ziwei Wang
9th Annual Conference on Robot Learning (CoRL), 2025
[PDF][Code][Website]

MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
Zhenyu Wu, Angyuan Ma, Xiuwei Xu, Hang Yin, Yinan Liang, Ziwei Wang, Jiwen Lu, Haibin Yan
9th Annual Conference on Robot Learning (CoRL), 2025
[PDF][Website]

Incremental 3D Gaussian Localization for Image-goal Navigation
Wenxuan Guo, Xiuwei Xu, Hang Yin, Ziwei Wang, Jianjiang Feng, Jie Zhou, Jiwen Lu
IEEE International Conference on Computer Vision (ICCV), 2025
[PDF]

AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation
Guanxing Lu, Tengbo Yu, Haoyuan Deng, Season Si Chen, Yansong Tang, Ziwei Wang
IEEE International Conference on Computer Vision (ICCV), 2025
[PDF][Code][Website]

GWM: Towards Scalable Gaussian World Models for Robotic Manipulation
Guanxing Lu, Baoxiong Jia, Puhao Li, Yixin Chen, Ziwei Wang, Yansong Tang, Siyuan Huang
IEEE International Conference on Computer Vision (ICCV), 2025
[PDF]

Embodied Instruction Following in Unknown Environments
Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Hang Yin, Yinan Liang, Angyuan Ma, Jiwen Lu, Haibin Yan
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
[PDF][Code][Website]

Anyview: General Indoor 3D Object Detection with Variable Frames
Zhenyu Wu, Xiuwei Xu, Ziwei Wang, Chong Xia, Linqing Zhao, Jiwen Lu, Haibin Yan
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
[PDF]

ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model
Tengbo Yu, Guanxing Lu, Zaijia Yang, Haoyuan Deng, Season Si Chen, Jiwen Lu, Wenbo Ding, Guoqiang Hu, Yansong Tang, Ziwei Wang
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
[PDF][Code]

UniGoal: Towards Universal Zero-shot Goal-oriented Navigation
Hang Yin, Xiuwei Xu, Lingqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025
[PDF][Code][Website]

TSP3D: Text-guided Sparse Voxel Pruning for Efficient 3D Visual Grounding
Wenxuan Guo, Xiuwei Xu, Ziwei Wang, Jianjiang Feng, Jie Zhou, Jiwen Lu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025
[PDF][Code]

ThinkBot: Embodied Instruction Following with Thought Chain Reasoning
Guanxing Lu, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang
The Thirteenth International Conference on Learning Representations (ICLR), 2025
[PDF][Code][Website]

EmbodiedSAM: Online Segment Any 3D Thing in Real Time
Xiuwei Xu, Huangxing Chen, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu
The Thirteenth International Conference on Learning Representations (ICLR), 2025
[PDF][Code][Website]

3D Small Object Detection with Dynamic Spatial Pruning
Xiuwei Xu*, Zhihao Sun*, Ziwei Wang, Hongmin Liu, Jie Zhou, Jiwen Lu
European Conference on Computer Vision (ECCV), 2024
[PDF][Code][Website]

ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation
Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang
European Conference on Computer Vision (ECCV), 2024
[PDF][Code][Website]

StableLego: Stability Analysis of Block Stacking Assembly
Liu, Kangle Deng, Ziwei Wang, Changliu Liu
IEEE Robotics and Automation Letters (RAL), 2024
[PDF][Code and Dataset]

Learning Generalizable Mixed-Precision Quantization via Attribution Imitation
Ziwei Wang, Han Xiao, Jie Zhou, Jiwen Lu
International Journal of Computer Vision (IJCV), 2024.
[PDF] [Code]

Towards Accurate Data-free Quantization for Diffusion Models
Changyuan Wang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR, Highlight), 2024.
[PDF] [Supp] [Code]

Memory-based Adapters for Online 3D Scene Perception
Xiuwei Xu*, Chong Xia*, Ziwei Wang, Linqing Zhao, Yueqi Duan, Jie Zhou, Jiwen Lu, Changliu Liu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
[PDF] [Code] [Website]

MCUFormer: Deploying Vision Transformers on Microcontrollers with Limited Memory
Yinan Liang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS), 2023.
[PDF] [Supp] [Code]

Learning Accurate Performance Predictors for Ultrafast Automated Model Compression
Ziwei Wang, Jiwen Lu, Han Xiao, Shengyu Liu, Jie Zhou
International Journal of Computer Vision (IJCV), 2023.
[PDF] [Code]

Category-level Shape Estimation for Densely Cluttered Objects
Zhenyu Wu, Ziwei Wang, Jiwen Lu, Haibin Yan
IEEE International Conference on Robotics and Automation (ICRA), 2023.
[PDF] [Code]

Quantformer: Learning Extremely Low-precision Vision Transformers
Ziwei Wang, Changyuan Wang, Xiuwei Xu, Jie Zhou, Jiwen Lu
IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2022.
[PDF] [Supp] [Code]

Planning Irregular Object Packing via Hierarchical Reinforcement Learning
Sichao Huang, Ziwei Wang, Jie Zhou, Jiwen Lu
IEEE Robotics and Automation Letters (RAL), 2022
[PDF] [Robot Demo] [Simulation Demo] [Code]

Smart Explorer: Recognizing Objects in Dense Clutter via Interactive Exploration
Zhenyu Wu*, Ziwei Wang*, Zibu Wei, Yi Wei, Haibin Yan
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[PDF] [Demo] [Code]

GE-Grasp: Efficeint Target Oriented Grasping in Dense Clutter
Zhan Liu, Ziwei Wang, Sichao Huang, Jie Zhou, Jiwen Lu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[PDF] [Demo] [Code]

Shapley-NAS: Discovering Operation Contribution for Neural Architecture Search
Han Xiao, Ziwei Wang, Zheng Zhu, Jie Zhou, Jiwen Lu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
[PDF] [Supplement] [Code]

Learning Efficient Binarized Object Detectors with Information Compression
Ziwei Wang, Jiwen Lu, Ziyi Wu, Jie Zhou
IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2022.
[PDF] [Supplement] [Code]

Generalizable Mixed-Precision Quantization via Attribution Rank Preservation
Ziwei Wang, Han Xiao, Jiwen Lu, Jie Zhou
IEEE International Conference on Computer Vision (ICCV), 2021.
[PDF] [Supplement] [Code]

BiDet: An Efficient Binarized Object Detector
Ziwei Wang, Ziyi Wu, Jiwen Lu, Jie Zhou
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2020
[PDF] [Code]

Learning Channel-wise Interactions for Binary Convolutional Neural Networks
Ziwei Wang, Jiwen Lu, Chenxin Tao, Jie Zhou
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2019
[PDF] [Code]