Yixin Zhu

Assistant Professor

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

Multivariate Long-term Time Series Forecasting with Fourier Neural Filter

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

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

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

B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

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

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

Neural Force Field: Learning Generalized Physical Representation from a Few Examples

Shiqian Li, Ruihong Shen, Chi Zhang, Yixin Zhu

Learning to Plan with Personalized Preferences

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

Language modulates vision: Evidence from neural networks and human brain-lesion models

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

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

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

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

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

Publications

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[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-RO24] 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

[NeurIPS24] PhyRecon: Physically Plausible Neural Scene Reconstruction

Junfeng Ni, Yixin Chen, Bohan Jing, Nan Jiang, Bin Wang, Bo Dai, Puhao Li, Yixin Zhu, Song-Chun Zhu, Siyuan Huang

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

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

[IROS24] Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations

Puhao Li, Tengyu Liu, Yuyang Li, Muzhi Han, Haoran Geng, Shu Wang, Yixin Zhu, Song-Chun Zhu, Siyuan Huang

[IROS24] PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments

Kairui Ding, Boyuan Chen, Ruihai Wu, Yuyang Li, Zongzheng Zhang, Huan-Ang Gao, Siqi Li, Yixin Zhu, Guyue Zhou, Hao Dong, Hao Zhao

[ECCV24] Zero-Shot Image Feature Consensus with Deep Functional Maps

Xinle Cheng, Congyue Deng, Adam Harley, Yixin Zhu, Leonidas Guibas

[CogSci24] Evaluating and Modeling Social Intelligence: A Comparative Study of Human and AI Capabilities

Junqi Wang, Chunhui Zhang, Jiapeng Li, Yuxi Ma, Lixing Niu, Jiaheng Han, Yujia Peng, Yixin Zhu, Lifeng Fan

[ScienceAdvances24] Human-level few-shot concept induction through minimax entropy learning

Chi Zhang, Baoxiong Jia, Yixin Zhu, Song-Chun Zhu

[CVPR24] Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordance

Zan Wang, Yixin Chen, Baoxiong Jia, Puhao Li, Jinlu Zhang, Jingze Zhang, Tengyu Liu, Yixin Zhu, Wei Liang, Siyuan Huang

[CVPR24] AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents

Jieming Cui, Tengyu Liu, Nian Liu, Yaodong Yang, Yixin Zhu, Siyuan Huang

[CVPR24] Scaling Up Dynamic Human-Scene Interaction Modeling

Nan Jiang, Zhiyuan Zhang, Hongjie Li, Xiaoxuan Ma, Zan Wang, Yixin Chen, Tengyu Liu, Yixin Zhu, Siyuan Huang

[RA-L24] Grasp Multiple Objects with One Hand

Yuyang Li, Bo Liu, Yiran Geng, Puhao Li, Yaodong Yang, Yixin Zhu, Tengyu Liu, Siyuan Huang

[3DV24] Single-view 3D Scene Reconstruction with High-fidelity Shape and Texture

Yixin Chen, Junfeng Ni, Nan Jiang, Yaowei Zhang, Yixin Zhu, Siyuan Huang

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