Ziwei Wang

Ziwei Wang is currently an assistant professor in School of Electrical and Electronic Engineering, Nanyang Technological University and the director of Perception and embodied INtElligence (PINE) Lab. Before joining NTU, he was a postdoc fellow in Robotics Institute, Carnegie Mellon University, with Prof. Changliu Liu. He received the Ph.D and the B.S degrees from the Department of Automation, Tsinghua University in 2023 and the Department of Physics, Tsinghua University in 2018 respectively. His research goal is to design foundation models (FMs) for robotic manipulation. He has published over 50 scientific papers in TPAMI, IJCV, RAL, CVPR, ICCV, ECCV, NeurIPS, CoRL, IROS and ICRA. He serves as a regular reviewer member for a variety of conferences and journals.

I am looking for self-motivated PhD/Postdoc/Master/research assistant. If you are interested in joining our lab, please drop me an email at ziwei.wang@ntu.edu.sg with your CV.

Email / CV / Google Scholar / Github / Twitter / Zhihu

News

2026-02: Three papers are accepetd to ICRA 2026.

2026-01: We will host Robotic Collaborative Assembling for Human-Centered Manufacturing (RoCo) at AAAI2026.

2025-10: We got the 2nd place in Challenge of Multimodal Robot Learning in InternUtopia and Real World and 1st place in simulation stage at IROS2025.

2025-09: I will co-organize the The tutorial/lab of the Verification of Neural Networks Competition (VNN-COMP): A Lab for Benchmark Proposers, Verification Tool Participants, and the Broader AI Community at AAAI 2026.

2025-08: I am invited to give a talk in The 2nd Workshop and Competition on Multi-Robot Perception and Navigation Challenges in Logistics and Inspection Tasks at IROS 2025.

2025-08: Four papers are accepetd to CoRL 2025.

2025-06: Three papers are accepetd to ICCV 2025.

2025-06: Three papers are accepetd to IROS 2025.

2025-02: Four papers are accepetd to CVPR 2025 (1 Highlight paper).

Recent Works

E2HiL: Entropy-Guided Sample Selection for Efficient Real-World Human-in-the-Loop Reinforcement Learning
Haoyuan Deng, Yuanjiang Xue, Haoyang Du, Boyang Zhou, Zhenyu Wu, Ziwei Wang
Arxiv, 2026
[PDF] [Website] [Video] [Code]

NORA-1.5: A Vision-Language-Action Model Trained using World Model- and Action-based Preference Rewards
Chia-Yu Hung, Navonil Majumder, Haoyuan Deng, Liu Renhang, Yankang Ang, Amir Zadeh, Chuan Li, Dorien Herremans, Ziwei Wang, Soujanya Poria
Arxiv, 2025
[PDF] [Website] [Hugging Face] [Code]

VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
Guanxing Lu, Wenkai Guo, Chubin Zhang, Yuheng Zhou, Haonan Jiang, Zifeng Gao, Yansong Tang, Ziwei Wang
Arxiv, 2025
[PDF] [Code]

Selected Publications

* means equal contribution

	VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning via Online Monte Carlo Tree Search Wenkai Guo, Guanxing Lu, Haoyuan Deng, Zhenyu Wu, Yansong Tang, Ziwei Wang IEEE International Conference on Robotics and Automation (ICRA), 2026. [PDF]
	MAP-VLA: Memory-Augmented Prompting for Vision-Language-Action Model in Robotic Manipulation Runhao Li, Wenkai Guo, Zhenyu Wu, Changyuan Wang, Haoyuan Deng, Zhenyu Weng, Yap-Peng Tan, Ziwei Wang IEEE International Conference on Robotics and Automation (ICRA), 2026. [PDF]
	SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation Haoyuan Deng, Wenkai Guo, Qianzhun Wang, Zhenyu Wu, Ziwei Wang 9th Conference on Robot Learning (CoRL), 2025. [PDF] [Website]
	RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation Zongzheng Zhang, Chenghao Yue, Haobo Xu, Minwen Liao, Xianglin Qi, Huan-ang Gao, Ziwei Wang, Hao Zhao 9th Conference on Robot Learning (CoRL), 2025. [PDF] [Website] [Video]
	MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation Zhenyu Wu, Angyuan Ma, Xiuwei Xu, Hang Yin, Yinan Liang, Ziwei Wang, Jiwen Lu, Haibin Yan 9th Conference on Robot Learning (CoRL), 2025. [PDF] [Website] [Video]
	TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models Zongzheng Zhang, Haobo Xu, Zhuo Yang, Chenghao Yue, Zehao Lin, Huan-ang Gao, Ziwei Wang, Hao Zhao 9th Conference on Robot Learning (CoRL), 2025. [PDF] [Website]
	Anybimanual: Transferring Unimanual Policy for General Bimanual Manipulation Guanxing Lu, Tengbo Yu, Haoyuan Deng, Season Si Chen, Yansong Tang, Ziwei Wang IEEE International Conference on Computer Vision (ICCV), 2025. [PDF] [Website] [Video] [Code]
	GWM: Towards Scalable Gaussian World Models for Robotic Manipulation Guanxing Lu, Baoxiong Jia, Puhao Li, Yixin Chen, Ziwei Wang, Yansong Tang, Siyuan Huang IEEE International Conference on Computer Vision (ICCV)*, 2025. [PDF] [Website] [Code]
	ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model Tengbo Yu, Guanxing Lu, Zaijia Yang, Haoyuan Deng, Season Si Chen, Jiwen Lu, Wenbo Ding, Guoqiang Hu, Yansong Tang, Ziwei Wang* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [PDF] [Code]
	Embodied Instruction Following in Unknown Environments Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, Haibin Yan IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. [PDF] [Website] [Code]
	MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation Zhenyu Wu, Yuheng Zhou, Xiuwei Xu, Ziwei Wang, Haibin Yan IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025. [PDF] [Website]
	UniGoal: Towards Universal Zero-shot Goal-oriented Navigation Hang Yin, Xiuwei Xu, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025. [PDF] [Code]
	Text-guided Sparse Voxel Pruning for Efficient 3D Visual Grounding Wenxuan Guo, Xiuwei Xu, Ziwei Wang, Jianjiang Feng, Jie Zhou, Jiwen Lu IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR, Highlight), 2025. [PDF] [Code] [中文解读]
	ThinkBot: Embodied Instruction Following with Thought Chain Reasoning Guanxing Lu, Ziwei Wang, Changliu Liu, Jiwen Lu, Yansong Tang The Thirteenth International Conference on Learning Representations (ICLR), 2025 [PDF] [Website] [Video]
	EmbodiedSAM: Online Segment Any 3D Thing in Real Time Xiuwei Xu, Huangxing Chen, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu The Thirteenth International Conference on Learning Representations (ICLR, Oral), 2025 [PDF] [Website] [Code] [Video]