Zixuan Chen

Chinese Name

陈子玄

I am a Ph.D. student at UC San Diego (UCSD) advised by Prof. Xiaolong Wang. Currently I’m interning at Meta.

Prior to this, I received my bachelor’s degree at School of Data Science, Fudan University in 2024, working with Prof. Xue Bin Peng.

My research interests lie in building general intelligent humanoid robots, including robust locomotion and general manipulation.

zic060 (at) ucsd.edu

Publications

  1. GMT: General Motion Tracking for Humanoid Whole-Body Control

    Zixuan Chen*, Mazeyu Ji*, Xuxin Cheng, Xuanbin Peng, Xue Bin Peng†, Xiaolong Wang†

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.

  2. TWIST: Teleoperated Whole-Body Imitation System

    Yanjie Ze*, Zixuan Chen*, João Pedro Araújo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wu, C. Karen Liu

    Conference on Robot Learning (CoRL), 2025.

  3. Learning Getting-Up Policies for Real-World Humanoid Robots

    Xialin He*, Runpei Dong*, Zixuan Chen, Saurabh Gupta

    Robotics Science and Systems (RSS), 2025.

  4. Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies

    Zixuan Chen*, Xialin He*, Yen-Jen Wang*, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

    Oral Presentation

  5. Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies

    Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, Jiajun Wu

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

    Oral Presentation

  6. Visual Whole-Body Control for Legged Loco-Manipulation

    Minghuan Liu*, Zixuan Chen*, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, Xiaolong Wang

    Conference on Robot Learning (CoRL), 2024.

    Oral Presentation