Xiawei (William) Liu

News

Aug 2026Started the M.S. program in Computer Science at USC, continuing research in the PSI Lab.
May 2026Ψ₀ received the Best Paper Award at the CVPR 2026 3D-LLM/VLA Workshop.
May 2026Humanoid Everyday received the Best Paper Award at the CVPR 2026 EAI Workshop.
May 2026Graduated from USC with a B.S. in Computer Engineering and Computer Science.
May 2026Humanoid Everyday was selected for an oral presentation at the ICRA 2026 From Data to Decisions Workshop.
May 2026Ψ₀ was accepted to RSS 2026.
Jan 2026Humanoid Everyday was accepted to ICRA 2026.

Publications

* equal contribution, † corresponding author

Humanoid Everyday: a humanoid robot doing everyday tasks in many scenes

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation

170 stars on GitHub

Zhenyu Zhao*, Hongyi Jing*, Xiawei Liu, Jiageng Mao, Abha Jha, Hanwen Yang, Rong Xue, Sergey Zakharov, Vitor Guizilini, Yue Wang†

IEEE International Conference on Robotics and Automation (ICRA), 2026

Best Paper Award, CVPR 2026 EAI Workshop
Oral Presentation, ICRA 2026 From Data to Decisions Workshop

Paper Code Project page

@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 Zakharov and Vitor Guizilini and Yue Wang},
  year={2025},
  eprint={2510.08807},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2510.08807},
}

Ψ₀: a humanoid robot doing loco-manipulation

Ψ₀: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation

2.9k stars on GitHub

Songlin Wei*, Hongyi Jing*, Boqian Li*, Zhenyu Zhao*, Jiageng Mao, Zhenhao Ni, Sicheng He, Jie Liu, Xiawei Liu, Kaidi Kang, Sheng Zang, Weiduo Yuan, Marco Pavone, Di Huang, Yue Wang†

Robotics: Science and Systems (RSS), 2026

Best Paper Award, CVPR 2026 3D-LLM/VLA Workshop

Paper Code Project page

@misc{wei2026psi0openfoundationmodel,
  title={$\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation},
  author={Songlin Wei and Hongyi Jing and Boqian Li and Zhenyu Zhao and Jiageng Mao and Zhenhao Ni and Sicheng He and Jie Liu and Xiawei Liu and Kaidi Kang and Sheng Zang and Weiduo Yuan and Marco Pavone and Di Huang and Yue Wang},
  year={2026},
  eprint={2603.12263},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2603.12263},
}

SIMPLE: simulated scenes for humanoid loco-manipulation

SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation

333 stars on GitHub

Songlin Wei*, Zhenhao Ni*, Jie Liu*, Zhenyu Zhao*, Junjie Ye, Hongyi Jing, Junkai Xia, Xiawei Liu, Michael Leong, Liang Heng, Di Huang, Yue Wang

arXiv preprint arXiv:2606.08278, 2026

Paper Code Project page

@article{wei2026simple,
  title={SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation},
  author={Wei, Songlin and Ni, Zhenhao and Liu, Jie and Zhao, Zhenyu and Ye, Junjie and Jing, Hongyi and Xia, Junkai and Liu, Xiawei and Leong, Michael and Heng, Liang and Huang, Di and Wang, Yue},
  journal={arXiv preprint arXiv:2606.08278},
  year={2026}
}

Education

M.S. in Computer ScienceUniversity of Southern California, Viterbi School of Engineering
2026 – 2027 (expected)
B.S. in Computer Engineering and Computer ScienceUniversity of Southern California, Viterbi School of Engineering
2022 – 2026

Experience

Student Researcher, Physical SuperIntelligence (PSI) Lab, USCHumanoid robotics and robot learning, advised by Prof. Yue Wang
Mar 2025 – present
Research Engineer Intern, WorldEngine AISanta Clara, CA
Jun – Aug 2026
Student Researcher, Carnegie Mellon UniversityGenerative AI research with Prof. Pradeep Ravikumar
May – Aug 2024