Hello

I’m Xiawei (William) Liu, an undergraduate focused on robotics, trustworthy ML, and reliable systems.

I study Computer Engineering & Computer Science at USC, supervised by Prof. Yue Wang. I work on humanoid manipulation datasets, teleoperation systems, and evaluation pipelines that make research reproducible and explainable for new collaborators.

Los Angeles, CA Graduating 2026 Open to internships & research roles

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Portrait of Xiawei (William) Liu — Xiawei (William) Liu

Publications

Selected papers and preprints.

Humanoid Everyday: A Comprehensive Robotic Dataset

ICRA (under review), 2025

Zhenyu Zhao*, Hongyi Jing*, Xiawei Liu, et al. “Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation.”

arXiv:2510.08807

Paper Code Website Cite

Citation (BibTeX)

@misc{zhao2025humanoideverydaycomprehensiverobotic,
  title={Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation},
  author={Zhenyu Zhao and Hongyi Jing and Xiawei Liu and Jiageng Mao and Abha Jha and Hanwen Yang and Rong Xue and Sergey Zakharor and Vitor Guizilini and Yue Wang},
  year={2025},
  eprint={2510.08807},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2510.08807},
}

Research experience

Hands-on work with labs and collaborators.

Humanoid Everyday · Physical SuperIntelligence Lab (PSI Lab), USC

2025 — Present

Designed and collected multi-modal humanoid datasets (RGB, depth, LiDAR, tactile, IMU, joint states, language) at 30 Hz on Unitree G1/H1.
Engineered a teleoperation pipeline (Apple Vision Pro → hands/arms via Pinocchio IK, shared-memory I/O), cutting control delay from ~500 ms to ~2 ms.
Built cloud evaluation for remote policy upload and hardware-in-the-loop testing; sustained 100+ minutes of continuous trials.
Benchmarked policies (DP/DP3, ACT, OpenVLA, π₀-FAST, π₀.5, GR00T N1.5) and analyzed failure modes.

Whole-Body Foundation Model Evaluation · Physical SuperIntelligence Lab (PSI Lab), USC

2025

Built a Viser-based visualization and data-verification tool to inspect trajectories and diagnose end-effector pose discrepancies.
Optimized evaluation pipeline initialization from 2 minutes to 2 seconds, increasing experiment throughput.

Alias-Free GAN Image Detection · CMU

2024

Ran double-blind studies on StyleGAN3 faces (FFHQ) and animals (AFHQv2) at truncation 0.7; analyzed misclassification patterns.
Generated controlled 1024×1024 images; built a rubric for realism, coherence, and detail; anonymized datasets and managed evaluator workflow.
Implemented analysis pipeline (Python; statistics, matplotlib) and co-authored methodology and discussion.

Projects

Academic and systems work.

Network Attached Storage (NAS)

Raspberry Pi

Personal NAS with remote WAN access via intranet penetration and port forwarding.
VPN setup for secure WAN access.

Embedded Systems Development

Embedded C / Python

IoT hardware interfacing (sensors, actuators) and distributed communication.
Arduino Uno speed-trap system as a representative build.

Bitrate Adaptation in an HTTP Proxy

C++

HTTP proxy that adjusts video streaming quality based on network conditions.

Custom DNS Load Balancer

C++

Round-robin and geographic-based DNS nameserver for load balancing.

MQTT & JSON Serialization

Networking

Data transmission system using MQTT with JSON serialization.

Algorithm Implementations

C++

AVL Tree, Dijkstra’s, A*, and sorting algorithms (Merge, Quick, Heap).