Publications

2026

1. CoRL 2026

   

   GeomVLA: Unifying Scene, Motion, and Action in 3D

   Ziyin Xiong, Nikolaos Gkanatsios, Moritz Reuss, and Katerina Fragkiadaki

   In Conference on Robot Learning, 2026

   Abs arXiv Code Website

   We present GeomVLA, a vision-language-action model that unifies scene perception, latent future scene-motion prediction, and action generation in a shared metric 3D frame. GeomVLA achieves state-of-the-art results on CALVIN and strong performance on LIBERO, RoboTwin2.0, and real-world manipulation without robot-action pretraining.

2025

1. IROS 2025

   

   Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation

   Ziyin Xiong^*, Yinghan Chen^*, Puhao Li, Yixin Zhu, Tengyu Liu, and Siyuan Huang

   In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025

   Abs arXiv Code Website

   We present Ag2x2, a framework that advances the autonomous acquisition of bimanual manipulation skills through agent-agnostic and coordination-aware visual representations that jointly encode object and hand motion patterns.

2. ICRA 2025

   

   Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion

   Boyuan Liang^*, Lingfeng Sun^*, Xinghao Zhu^*, Bike Zhang, Ziyin Xiong, Yixiao Wang, Chenran Li, Koushil Sreenath, and Masayoshi Tomizuka

   In IEEE International Conference on Robotics and Automation, 2025

   Abs arXiv Code Website

   We introduce an adaptive, energy-centric reward strategy that enables quadruped robots to select efficient gaits across different speeds without predefined gait patterns or complex reward design. The approach improves energy efficiency and velocity tracking in simulation and transfers to real Unitree Go1 hardware.