Publications
A collection of my research work.
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
Advances in Neural Information Processing Systems (NeurIPS) 2026
Accepted
Agentic RSR: Real-to-Sim-to-Real through Scene Reconstruction and Execution-Grounded Robot Policies
Yihan Li†, Yating Feng†, Shengjiu Sun, Jianing Chen, Hao Ren, Bowen Yang, Weisheng Xu, Qiwei Wu, Hui Cheng, Renjing Xu
arXiv preprint arXiv:2610.10479 2026
Co-first authors: Yihan Li and Yating Feng (*equal contribution)
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
Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Control
Weisheng Xu†, Qiwei Wu†, Jiaxi Zhang, Jing Tan†, Yangfan Li, Yuetong Fang, Jiaqi Xiong, Kai Wu, Rong Ou, Renjing Xu
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2026
Co-first author (*equal contribution)
Gentle Manipulation Policy Learning via Demonstrations from VLM-Planned Atomic Skills
Jiayu Zhou†, Qiwei Wu†, Jian Li, Zhe Chen, Xiaogang Xiong, Renjing Xu
Proceedings of the AAAI Conference on Artificial Intelligence (AAAI-26) 2026
Oral presentation (Top 5%). Co-first author (*equal contribution)
Gentle Manipulation of Long-Horizon Tasks Without Human Demonstrations
Jiayu Zhou†, Qiwei Wu†, Haitao Jiang, Xuanbao Qin, Yunjiang Lou, Xiaogang Xiong, Renjing Xu
IEEE Robotics and Automation Letters (RA-L) 2026
Co-first author (*equal contribution). JCR Q1 Top
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)
A GPU-Parallel Framework for Heterogeneous Multi-Task Reinforcement Learning
Rui Zhang†, Qiwei Wu†, Zhengyu Zhang, Tao Li, Hongyu Zhou, Xiang Li, Yunrong Guo, Junjie Lai, Renjing Xu, Weihua Zhang
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, Yihang Kang, Renjing Xu
IEEE Robotics and Automation Letters (RA-L) 2026
Accepted
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
TARS: Tactile Affordance in Robot Synesthesia for Dexterous Manipulation
Qiwei Wu, Haidong Wang, Jiayu Zhou, Xiaogang Xiong, Yunjiang Lou
IEEE Robotics and Automation Letters (RA-L) 2025
First author. JCR Q1 Top
RTTF: Rapid Tactile Transfer Framework for Contact-Rich Manipulation Tasks
Qiwei Wu, Xuanbin Peng, Jiayu Zhou, Zhuoran Sun, Xiaogang Xiong, Yunjiang Lou
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
First author