Publications

RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies

Tianxing Chen, Yue Chen, Zixuan Li, Junyuan Tang, Kailun Su, Haoran Lu, Weijie Wan, Baijun Chen, Songling Liu, Haowen Yan, Honghao Su, Zhiyang Dou, Kaixuan Wang, Dandan Zhang, Yunze Liu, Yan Qin, Qiwei Liang, Qiwei Wu, Zijian Lin, Wenwei Lin, Yuran Wang, Minghua He, Tianshu Wu, Ruihai Wu, Jingquan Zhou, Kai-Chong Lei, Haibao Yu, Yuanfeng Ji, Weiyang Jin, Guanyu Lin, Xiaofan Li, Qi Xiong, Renjing Xu, Zhongyu Li, Wenhao Chai, Enze Xie, Ziwei Wang, Yao Mu, Hao Dong, Wojciech Matusik, Mingyu Ding, Wenbo Ding, Ping Luo, Masayoshi Tomizuka

2026

arXiv preprint arXiv:2607.04434

HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning

Taowen Wang, Zikang Xie, Bin Yang, Yunheng Wang, Zizhao Yuan, Yuetong Fang, Yixiao Feng, Yichi Wang, Xingyu Chen, Haodong Chen, Qiwei Wu, Weisheng Xu, Lihan Chen, Lusong Li, Zecui Zeng, Renjing Xu

arXiv preprint arXiv:2606.17833 2026

Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language

Qiwei Wu, Rui Zhang, Xin Xiang, Junjie Lai, Renjing Xu

Proceedings of the 43rd International Conference on Machine Learning (ICML) 2026

First author

Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control

Weisheng Xu^†, Qiwei Wu^†, Jing Tan^†, Renjing Xu

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2026

Co-first author (*equal contribution)

Obstacle-Aware Loco-Manipulation via Semantic-Decoupled Elevation Maps and Mixture of Experts

Wenjun Gao^†, Qiwei Wu^†, Zhaohong Yan, Xiaogang Xiong, Renjing Xu

2026

Under review. Co-first author (*equal contribution)

Safe Whole-Body Compliant Interaction with Dynamic Variable Damping in Quadruped Robots

Zhaohong Yan^†, Qiwei Wu^†, Wenjun Guo, Xiaogang Xiong, Renjing Xu

2026

Under review. Co-first author (*equal contribution)

GPU-Parallel Multi-Task Reinforcement Learning with Demonstration-Guided Policy Optimization

Rui Zhang^†, Qiwei Wu^†, Zhengyu Zhang, Junjie Lai, Renjing Xu

2026

Under review. Co-first author (*equal contribution)

Resistive Memory-Based Constraint Optimization Solver for Robot Manipulation

Yue Zhang, Qifan Zhu, Qiwei Wu, Renjing Xu, Xiaojuan Qi, Zhongrui Wang

2026

Submitted to Nature Computational Science. Under review

OHP-RL: Online Human Preference as Guidance in Reinforcement Learning for Robot Manipulation

Yunyang Mo, Jian Li, Qiwei Wu, Renjing Xu

2026

Under review

Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis

Weisheng Xu, Jian Li, Yi Gu, Bin Yang, Haodong Chen, Shuyi Lin, Mingqian Zhou, Jing Tan, Qiwei Wu, Xiangrui Jiang, Taowen Wang, Jiawen Wen, Qiwei Liang, Jiaxi Zhang, Renjing Xu

2026

Under review

Gentle Manipulation Policy Learning via Demonstrations from VLM-Planned Atomic Skills

Jiayu Zhou^†, Qiwei Wu^†, Jian Li, Xiaogang Xiong, Renjing Xu

Proceedings of the 40th AAAI Conference on Artificial Intelligence (AAAI) 2025

Oral presentation (Top 5%). Co-first author (*equal contribution)

Gentle Manipulation of Long-Horizon Tasks without Human Demonstration Data

Jiayu Zhou^†, Qiwei Wu^†, Haitao Jiang, Xiaogang Xiong, Renjing Xu

IEEE Robotics and Automation Letters (RA-L) 2025

Co-first author (*equal contribution). JCR Q1 Top

Tactile Affordance in Robot Synesthesia for Dextrous Manipulation

Qiwei Wu, Haidong Wang, Jiayu Zhou, Xiaogang Xiong

IEEE Robotics and Automation Letters (RA-L) 2024

First author. JCR Q1 Top

Rapid Tactile Transfer Framework for Contact-Rich Manipulation Tasks

Qiwei Wu, Xuanbing Peng, Jiayu Zhou, Xiaogang Xiong

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

First author