Zixian Liu

I am currently an undergraduate student in Yao Class, Tsinghua University. Previously, I was a research intern at Shanghai AI Lab, supervised by Prof. Ziwei Liu. I was fortunate to work with Prof. Yunzhu Li at UIUC and Prof. Huazhe Xu at Tsinghua University.

Email / Scholar / Twitter/X / Github

Research

I am interested in 'spatial intelligence' and 'physical intelligence'. Specifically, I am interested in the following questions:

1. How can models perceive, understand, and reason in 3D space?
2. How to equip models with physical common knowledge, and finally have them engage in the real world?

Preprints

OnlineSI: Taming Large Language Model for Online 3D Understanding and Grounding
Zixian Liu, Zhaoxi Chen, Liang Pan, Ziwei Liu
arXiv, 2026
Project Page / arXiv

We introduce OnlineSI, a framework designed to understand 3D scenes in an online fashion and make detections from streaming video.

Publications

ViTaS: Visual Tactile Soft Fusion Contrastive Learning for Visuomotor Learning
Yufeng Tian^*, Shuiqi Cheng^*, Tianming Wei, Tianxing Zhou, Yuanhang Zhang, Zixian Liu, Qianwei Han, Zhecheng Yuan, Huazhe Xu
ICRA, 2026
Project Page / arXiv / Code

A simple yet effective framework that incorporates both visual and tactile information to guide the behavior of an agent.

KUDA: Keypoints to Unify Dynamics Learning and Visual Prompting for Open-Vocabulary Robotic Manipulation
Zixian Liu^*, Mingtong Zhang^*, Yunzhu Li
ICRA, 2025
Best Paper Finalist (top 10%) @ CoRL 2024 Workshop
Project Page / arXiv / Code

KUDA is an open-vocabulary manipulation system that unifies the visual prompting of vision language models (VLMs) and dynamics modeling with keypoints.

Misc

In my spare time, I like playing soccer, watching anime, and playing video games. I am also an amateur game developer using Unity and RPG Maker. Most of the time I make games for my own entertainment.

Maybe due to a little obsessive-compulsive personality disorder, coding awesome and structured projects gracefully can make me feel excellent.
In addition, I like to listen to Japanese music, including soundtracks of FF15, Xenoblade, Nier, etc, and music made by famous Japanese musicians, such as Joe Hisaishi and Hiroyuki Sawano.

Last updated: 2026-03-10