Yixin Zhu

Assistant Professor

PKU School of Psychological and Cognitive Sciences

PKU Institute for AI

Biography

Dr. Yixin Zhu received a Ph.D. degree (‘18) from UCLA advised by Prof. Song-Chun Zhu. His research builds interactive AI by integrating high-level common sense (functionality, affordance, physics, causality, intent) with raw sensory inputs (pixels and haptic signals) to enable richer representation and cognitive reasoning on objects, scenes, shapes, numbers, and agents. Dr. Zhu directs the PKU CoRe Lab, working on abstract reasoning, visually grounded reasoning, and interactive reasoning.

[CV] [Dissertation]

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Pre-Print

Code over Words: Overcoming Semantic Inertia via Code-Grounded Reasoning

Manjie Xu, Isabella Yin, Xinyi Tu, Chi Zhang, Yixin Zhu

UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots

Nan Jiang, Zimo He, Wanhe Yu, Lexi Pang, Yunhao Li, Hongjie Li, Jieming Cui, Yuhan Li, Yizhou Wang, Yixin Zhu, Siyuan Huang

Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation

Yuyang Li, Yinghan Chen, Zihang Zhao, Puhao Li, Tengyu Liu, Siyuan Huang, Yixin Zhu

Cross-Scenario Unified Modeling of User Interests at Billion Scale

Manjie Xu, Xin Jia, Cheng Chen, Jingyi Zhou, Chi Zhang, Yongji Wu, Zejian Wang, Kai Zuo, Yibo Chen, Xu Tang, Yao Hu, Yixin Zhu

Vi-TacMan: Articulated Object Manipulation via Vision and Touch

Leiyao Cui, Zihang Zhao, Sirui Xie, Wenhuan Zhang, Zhi Han, Yixin Zhu

TacMan-Turbo: Proactive Tactile Control for Robust and Efficient Articulated Object Manipulation

Zihang Zhao, Zhenghao Qi, Yuyang Li, Leiyao Cui, Zhi Han, Lecheng Ruan, Yixin Zhu

Multivariate Long-term Time Series Forecasting with Fourier Neural Filter

Chenheng Xu, Dan Wu, Yixin Zhu, Ying Nian Wu

AffordX: Generalizable and Slim Affordance Reasoning for Task-oriented Manipulation

Xiaomeng Zhu, Yuyang Li, Leiyao Cui, Pengfei Li, Huang-Ang Gao, Yixin Zhu, Hao Zhao

Learning to Plan with Personalized Preferences

Manjie Xu, Xinyi Yang, Wei Liang, Chi Zhang, Yixin Zhu

AlphaChimp: Tracking and Behavior Recognition of Chimpanzees

Xiaoxuan Ma, Yutang Lin, Yuan Xu, Stephan Kaufhold, Jack Terwilliger, Andres Meza, Yixin Zhu, Federico Rossano, Yizhou Wang

Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy

Tianhao Wu, Yunchong Gan, Mingdong Wu, Jingbo Cheng, Yaodong Yang, Yixin Zhu, Hao Dong

STRAP: Structured Transformer for Affordance Segmentation with Point Supervision

Leiyao Cui, Xiaoxue Chen, Hao Zhao, Guyue Zhou, Yixin Zhu

Selected Publications

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[ICLR26] Learning physics-grounded 4D dynamics with neural gaussian force fields

Shiqian Li, Ruihong Shen, Junfeng Ni, Chang Pan, Chi Zhang, Yixin Zhu

[ICLR26] Neural Force Field: Few-shot Learning of Generalized Physical Reasoning

Shiqian Li, Ruihong Shen, Yaoyu Tao, Chi Zhang, Yixin Zhu

[CHI26] NarrativeLoom: Enhancing Creative Storytelling through Multi-Persona Collaborative Improvisation

Yuxi Ma, Yongqian Peng, Fengyuan Yang, Siyu Zha, Chi Zhang, Zixia Jia, Zilong Zheng, Yixin Zhu

[NatureMachineIntelligence26] Proposing and solving olympiad geometry with guided tree search

Chi Zhang, Jiajun Song, Siyu Li, Yitao Liang, Yuxi Ma, Wei Wang, Yixin Zhu, Song-Chun Zhu

[NatureHumanBehaviour25] Combined evidence from artificial neural networks and human brain-lesion models reveals that language modulates vision in human perception

Haoyang Chen, Bo Liu, Shuyue Wang, Xiaosha Wang, Wenjuan Han, Xiaochun Wang, Yixin Zhu, Yanchao Bi

[NeurIPS25] Heterogeneous Adversarial Play in Interactive Environments

Manjie Xu, Xinyi Yang, Jiayu Zhan, Wei Liang, Chi Zhang, Yixin Zhu

[NeurIPS25] DrivAerStar: An Industrial-Grade CFD Dataset for Vehicle Aerodynamic Optimization

Jiyan Qiu, Lyulin Kuang, Guan Wang, Yichen Xu, Leiyao Cui, Shaotong Fu, Yixin Zhu, Ruihua Zhang

[NeurIPS25] GlobalTomo: A global dataset for physics-ML seismic wavefield modeling and FWI

Shiqian Li, Zhi Li, Zhancun Mu, Shiji Xin, Zhixiang Dai, Kuangdai Leng, Ruihua Zhang, Xiaodong Song, Yixin Zhu

[NeurIPS25] Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation

Yuyang Li, Wenxin Du, Chang Yu, Puhao Li, Zihang Zhao, Tengyu Liu, Chenfanfu Jiang, Yixin Zhu, Siyuan Huang

[RA-L25] B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu

[CoRL25] CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks

Yixuan Li, Yutang Lin, Jieming Cui, Tengyu Liu, Wei Liang, Yixin Zhu, Siyuan Huang

[NatureMachineIntelligence25] Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

Zihang Zhao, Wanlin Li, Yuyang Li, Tengyu Liu, Boren Li, Meng Wang, Kai Du, Hangxin Liu, Yixin Zhu, Qining Wang, Kaspar Althoefer, Song-Chun Zhu

[CogSci25] Probing and Inducing Combinational Creativity in Vision-Language Models

Yongqian Peng, Yuxi Ma, Mengmeng Wang, Yuxuan Wang, Yizhou Wang, Chi Zhang, Yixin Zhu, Zilong Zheng

[CogSci25] Word Embeddings Track Social Group Changes Across 70 Years in China

Yuxi Ma, Yongqian Peng, Yixin Zhu

[CogSci25] A simulation-heuristics dual-process model for intuitive physics

Shiqian Li, Yuxi Ma, Jiajun Yan, Bo Dai, Yujia Peng, Chi Zhang, Yixin Zhu

[CVPR25] GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill

Jieming Cui, Tengyu Liu, Ziyu Meng, Jiale Yu, Ran Song, Wei Zhang, Yixin Zhu, Siyuan Huang

[CVPR25] Dynamic Motion Blending for Versatile Motion Editing

Nan Jiang, Hongjie Li, Ziye Yuan, Zimo He, Yixin Chen, Tengyu Liu, Yixin Zhu, Siyuan Huang

[T-RO25] Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

[RA-L24] MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Wanlin Li, Zihang Zhao, Leiyao Cui, Weiyi Zhang, Hangxin Liu, Li-an Li, Yixin Zhu

[SIGGRAPHAsia24] Autonomous Character-Scene Interaction Synthesis from Text Instruction

Nan Jiang, Zimo He, Zi Wang, Hongjie Li, Yixin Chen, Siyuan Huang, Yixin Zhu

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