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Zixuan Chen

▼ Chinese Name
Ph.D. Student
UC San Diego
zic060 (at) ucsd.edu


About Me

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.

Publications

  1. BERJAYA arXiv
    GMT: General Motion Tracking for Humanoid Whole-Body Control
    Zixuan Chen*, Mazeyu Ji*, Xuxin Cheng, Xuanbin Peng, Xue Bin Peng†, Xiaolong Wang†
    arXiv 2025
    PDF arXiv Code Project Page

  2. BERJAYA CoRL
    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.
    PDF arXiv Code Project Page

  3. BERJAYA RSS
    Learning Getting-Up Policies for Real-World Humanoid Robots
    Xialin He*, Runpei Dong*, Zixuan Chen, Saurabh Gupta
    Robotics Science and Systems (RSS), 2025.
    PDF arXiv Project Page

  4. BERJAYA IROS
    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.
    PDF arXiv Code Project Page Oral Presentation

  5. BERJAYA IROS
    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.
    PDF arXiv Code Project Page Oral Presentation

  6. BERJAYA CoRL
    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.
    PDF arXiv Project Page Oral Presentation



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