Yixin Zheng | 郑一新

Ph.D. student working on Embodied AI and Robot Learning.

I am a Ph.D. student in Control Theory and Control Science, jointly trained by the Institute of Automation, Chinese Academy of Sciences and Beijing Academy of Artificial Intelligence. I am affiliated with the EPIC Lab at Peking University.

My research focuses on world action models, vision-language-action models, robot foundation models, representation learning, 3D vision, and dexterous manipulation.

Advisors and mentors: Dr. Zhizheng Zhang, Prof. He Wang, and Prof. Xiaoguang Zhao.

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Research Interests

Education

Publications

*: joint first author; † project lead; #: corresponding author(s)

DAPL paper teaser

Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning

Yixin Zheng*, Jiangran Lyu*†, Yifan Zhang, Jiayi Chen, Mi Yan, Yuntian Deng, Xuesong Shi, Xiaoguang Zhao, Yizhou Wang, Zhizheng Zhang#, He Wang#

Robotics: Science and Systems (RSS), 2026 RSS 2026 Outstanding Paper Finalist

project page

By leveraging dynamics-aware policy learning, our approach enables robots to exploit environmental contacts and object interactions to accomplish complex manipulation.

LDA-1B paper teaser

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Jiangran Lyu*, Kai Liu*, Xuheng Zhang*, Haoran Liao, Yusen Feng, Wenxuan Zhu, Tingrui Shen, Jiayi Chen, Jiazhao Zhang, Yifei Dong, Wenbo Cui, Senmao Qi, Shuo Wang, Yixin Zheng, Mi Yan, Xuesong Shi, Haoran Li, Dongbin Zhao, Ming-Yu Liu, Zhizheng Zhang, Li Yi, Yizhou Wang, He Wang

Robotics: Science and Systems (RSS), 2026

project page

Scaling robot foundation models with large-scale heterogeneous embodied data.