Pengwei Xie

Research

I'm interested in computer vision, robotic manipulation, reinforcement learning and sim2real. I focus on scalable algorithms to achieve AGI in complex real-world environments.

τ0-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Xiaowei Cai, Yunuo Cai, Bingao Chen, Jingxiao Chen, Zhi Chen, Siyuan Feng, Tengyu Hou, Jingshun Huang, Han Jiang, Runkun Ju, Dong Li, Mingxiang Li, Shaowei Li, Xinchen Li, Yifan Li, Yi Liu, Zhongyuan Liu, Jianlan Luo, Junwen Miao, Ruiqi Ni, Buqing Nie, Mingjie Pan, Xinlin Ren, Jianheng Song, Jiaxu Wang, Peiqi Wang, Sen Wang, Xiaoyan Wang, Dafeng Wei, Dongming Wu, Pengwei Xie, Pu Yang, Hangjian Ye, Xiangyu Yue, Jinyu Zhang, Qinglin Zhang, Xueyong Zhao, Yue Zhou

Preprint, 2026

project page / paper / code / model

Learning While Deploying fleet-scale reinforcement learning framework

Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies

Yi Wang, Xinchen Li, Pengwei Xie, Pu Yang, Buqing Nie, Yunuo Cai, Qinglin Zhang, Chendi Qu, Jeffrey Wu, Jianheng Song, Xinlin Ren, Jingshun Huang, Mingjie Pan, Siyuan Feng, Zhi Chen, Jianlan Luo

arXiv, 2026

project page / arxiv / paper

OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoning

Yuecheng Liu*, Dafeng Chi*, Shiguang Wu*, Zhanguang Zhang*, Yuzheng Zhuang*, Bowen Yang, He Zhu, Lingfeng Zhang, Pengwei Xie, David Gamaliel Arcos Bravo, Yingxue Zhang, Jianye Hao, Xingyue Quan

International Conference on Learning Representations (ICLR), 2026

project page / arxiv

More than A Point: Capturing Uncertainty with Adaptive Affordance Heatmaps for Spatial Grounding in Robotic Tasks

Xinyu Shao*, Yanzhe Tang*, Pengwei Xie, Kaiwen Zhou, Yuzheng Zhuang, Xingyue Quan, Jianye Hao, Long Zeng, Xiu Li

arXiv, 2025

project page / arxiv

Active-Perceptive Language-Oriented Grasp Policy for Heavily Cluttered Scenes

Yixiang Dai*, Siang Chen*, Kaiqin Yang, Dingchang Hu, Pengwei Xie, Guosheng Li, Yuan Shen, Guijin Wang

IEEE Robotics and Automation Letters (RA-L), 2025

paper / code

Rethinking 6-DoF Grasp Detection: A Flexible Framework for High-Quality Grasping

Pengwei Xie*, Siang Chen*, Wei Tang*, Kaiqin Yang, Guiijin Wang

Pattern Recognition (PR), 2025

paper / arxiv / code

GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation Demonstration and Imitation

Zifan Wang, Junyu Chen, Ziqing Chen, Pengwei Xie, Rui Chen, Li Yi

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024

project page / arxiv / code

Region-Aware Grasp Framework with Normalized Grasp Space for Efficient 6-Dof Grasping

Siang Chen*, Pengwei Xie*, Wei Tang, Dingchang Hu, Yixiang Dai, Guijin Wang

Conference on Robot Learning (CoRL), 2024

arxiv / code

GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping

Pengwei Xie*, Siang Chen*, Qianrun Chen, Wei Tang, Dingchang Hu, Yixiang Dai, Rui Chen, Guijin Wang

IEEE Robotics and Automation Letters (RA-L), 2024

arxiv / code

Target-Oriented Object Grasping via Multimodal Human Guidance

Pengwei Xie, Siang Chen, Dingchang Hu, Yixiang Dai, Kaiqin Yang, Guijin Wang

European Conference on Computer Vision Workshops (ECCVW), 2024

arxiv

Part-Guided 3D RL for Sim2Real Articulated Object Manipulation

Pengwei Xie*, Rui Chen*, Siang Chen*, Yuzhe Qin, Fanbo Xiang, Tianyu Sun, Jing Xu, Guijin Wang, Hao Su

IEEE Robotics and Automation Letters (RA-L), 2023

arxiv / code

Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes

Siang Chen*, Wei Tang*, Pengwei Xie, Wenming Yang, Guijin Wang

IEEE Robotics and Automation Letters (RA-L), 2023

arxiv / code

ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills

Jiayuan Gu*,, Fanbo Xiang*, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, Xiaodi Yuan, Pengwei Xie, Zhiao Huang, Rui Chen, Hao Su

International Conference on Learning Representations (ICLR), 2023

project page / arxiv / code