刘航欣｜北京大学｜学者主页

2026

Chain Of Interaction Benchmark (COIN): When Reasoning meets Embodied Interaction

Xianhao Wang, Xiaojian Ma, Hao Hu, Rongpeng Su, Yu-Tian Cheng, Zi-Heng Zhou, Hangxin Liu, Lei Liu, Bin Li, Qing Li

arXiv.org

DOI

2025

Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

Zi-Yuan Jiao, Yi-Da Niu, Ze-Yu Zhang, YangYang Wu, Yao Su, Yixin Zhu, Hangxin Liu, Song-Chun Zhu

IEEE Transactions on robotics

DOI

2024

用于重建物理和虚拟抓取的可重构数据手套（英文）

Hangxin Liu, Zeyu Zhang, Ziyuan Jiao, Zhenliang Zhang, Minchen Li, Chenfanfu Jiang, Yixin Zhu, Song-Chun Zhu

Engineering

2024

M${}^{3}$Bench: Benchmarking Whole-Body Motion Generation for Mobile Manipulation in 3D Scenes

Ze-Yu Zhang, Si-Xu Yan, Muzhi Han, Zaijin Wang, Xing-Gang Wang, Song-Chun Zhu, Hangxin Liu

IEEE Robotics and Automation Letters

DOI

2024

MiniTac: An Ultra-Compact $\text{8 mm}$ Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Wanlin Li, Zihang Zhao, Lei-Yao Cui, Weiyi Zhang, Hangxin Liu, Lianhua Li, Yixin Zhu

IEEE Robotics and Automation Letters

DOI

2024

M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes

Si-Xu Yan, Ze-Yu Zhang, Muzhi Han, Zaijin Wang, Qi Xie, Zhi-Tian Li, Zhe-Han Li, Hangxin Liu, Xing-Gang Wang, Song-Chun Zhu

IEEE Transactions on Pattern Analysis and Machine Intelligence

DOI

2024

On the Emergence of Symmetrical Reality

Zhen-Liang Zhang, Ze-Yu Zhang, Zi-Yuan Jiao, Yao Su, Hangxin Liu, Wei Wang, Song-Chun Zhu

IEEE Conference on Virtual Reality and 3D User Interfaces

DOI

2024

LLM3: Large Language Model-based Task and Motion Planning with Motion Failure Reasoning

Shu Wang, Muzhi Han, Zi-Yuan Jiao, Ze-Yu Zhang, Ying-Nian Wu, Song-Chun Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2024

Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

Zihang Zhao, Wan-Lin Li, Yu-Yang Li, Teng-Yu Liu, Boren Li, Meng Wang, Kai Du, Hangxin Liu, Yi-Xin Zhu, Qi-Ning Wang, K. Althoefer, Song-Chun Zhu

Nature Machine Intelligence

DOI

2023

Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

Hangxin Liu, Ze-Yu Zhang, Zi-Yuan Jiao, Zhenlian Zhang, Min-Chen Li, Chenfanfu Jiang, Yixin Zhu, Song-Chun Zhu

arXiv.org

DOI

2023

L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing

Wanlin Li, Meng Wang, Jiarui Li, Yao Su, Devesh K. Jha, Xinyuan Qian, K. Althoefer, Hangxin Liu

IEEE Robotics and Automation Letters

DOI

2023

A Learning-Free Method for Locomotion Mode Prediction by Terrain Reconstruction and Visual-Inertial Odometry

Shunyi Zhao, Zehuan Yu, Zhaoyang Wang, Hangxin Liu, Zhi-Hao Zhou, Lecheng Ruan, Qi-Ning Wang

IEEE transactions on neural systems and rehabilitation engineering

DOI

2023

Learning a Causal Transition Model for Object Cutting

Ze-Yu Zhang, Muzhi Han, Baoxiong Jia, Zi-Yuan Jiao, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2023

Part-level Scene Reconstruction Affords Robot Interaction

Ze-Yu Zhang, Le-Xing Zhang, Zaijin Wang, Zi-Yuan Jiao, Muzhi Han, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2023

Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments

Han Gao, W. Pengying, S. Yao, Kangjie Zhou, M. Ji, Hangxin Liu, Chang Liu

American Control Conference

DOI

2023

Sequential Manipulation Planning for Over-Actuated Unmanned Aerial Manipulators

Yao Su, Jiarui Li, Zi-Yuan Jiao, Meng Wang, Chia-Hung Chu, Hang Li, Yixin Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2023

Aggregating Single-Wheeled Mobile Robots for Omnidirectional Movements

Meng Wang, Yao Su, Hang Li, Jiarui Li, Jixiang Liang, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2023

Rearrange Indoor Scenes for Human-Robot Co-Activity

Weiqi Wang, Zihang Zhao, Zi-Yuan Jiao, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

IEEE International Conference on Robotics and Automation

DOI

2022

Scene Reconstruction with Functional Objects for Robot Autonomy

Muzhi Han, Ze-Yu Zhang, Zi-Yuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

International Journal of Computer Vision

DOI

2022

Sequential Manipulation Planning on Scene Graph

Zi-Yuan Jiao, Yi-Da Niu, Ze-Yu Zhang, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2022

Understanding Physical Effects for Effective Tool-Use

Ze-Yu Zhang, Zi-Yuan Jiao, Weiqi Wang, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

IEEE Robotics and Automation Letters

DOI

2022

Planning Sequential Tasks on Contact Graph

Zi-Yuan Jiao, Yi-Da Niu, Ze-Yu Zhang, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

2022

Object Gathering with a Tethered Robot Duo

Yao Su, Yuhong Jiang, Yixin Zhu, Hangxin Liu

IEEE Robotics and Automation Letters

DOI

2022

Downwash-aware Control Allocation for Over-actuated UAV Platforms

Yao Su, Chia-Hung Chu, Meng Wang, Jiarui Li, Liu Yang, Yixin Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2022

A Wireless Somatosensory Feedback System Using Human Body Communication

Han Hao, Hangxin Liu, J. van der Spiegel, Firooz Aflatouni

IEEE Journal of Solid-State Circuits

DOI

2021

Patching Interpretable And‐Or‐Graph Knowledge Representation using Augmented Reality

Hangxin Liu, Yixin Zhu, Song-Chun Zhu

Applied AI Letters

DOI

2021

Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

Zi-Yuan Jiao, Ze-Yu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2021

Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments

Muzhi Han, Ze-Yu Zhang, Zi-Yuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

IEEE International Conference on Robotics and Automation

DOI

2021

A Somatosensory Feedback System in 180nm CMOS

Han Hao, Hangxin Liu, J. van der Spiegel, Firooz Aflatouni

IEEE Custom Integrated Circuits Conference

DOI

2021

Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

Zi-Yuan Jiao, Ze-Yu Zhang, Weiqi Wang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2020

WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning

Meng Wang, Yao Su, Hangxin Liu, Ying-Qing Xu

IEEE International Symposium on Robot and Human Interactive Communication

DOI

2020

Congestion-aware Evacuation Routing using Augmented Reality Devices

Ze-Yu Zhang, Hangxin Liu, Zi-Yuan Jiao, Yixin Zhu, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2020

Joint Inference of States, Robot Knowledge, and Human (False-)Beliefs

Tao Yuan, Hangxin Liu, Lifeng Fan, Zilong Zheng, Tao Gao, Yixin Zhu, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2020

Human-Robot Interaction in a Shared Augmented Reality Workspace

Shuwen Qiu, Hangxin Liu, Ze-Yu Zhang, Yixin Zhu, Song-Chun Zhu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2020

Dark, Beyond Deep: A Paradigm Shift to Cognitive AI with Humanlike Common Sense

Yixin Zhu, Tao Gao, Lifeng Fan, Siyuan Huang, Mark Edmonds, Hangxin Liu, Feng Gao, Chi Zhang, Si-Yuan Qi, Ying Wu, J. Tenenbaum, Song-Chun Zhu

Engineering

DOI

2019

High-Fidelity Grasping in Virtual Reality using a Glove-based System

Hangxin Liu, Zhenliang Zhang, Xu Xie, Yixin Zhu, Yue Liu, Yong-Tian Wang, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2019

Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions

Hangxin Liu, Chi Zhang, Yixin Zhu, Chenfanfu Jiang, Song-Chun Zhu

AAAI Conference on Artificial Intelligence

DOI

2019

VRGym: a virtual testbed for physical and interactive AI

Xu Xie, Hangxin Liu, Zhenliang Zhang, Yuxing Qiu, Feng Gao, Si-Yuan Qi, Yixin Zhu, Song-Chun Zhu

ACM Turing Celebration Conference

DOI

2019

Self-Supervised Incremental Learning for Sound Source Localization in Complex Indoor Environment

Hangxin Liu, Ze-Yu Zhang, Yixin Zhu, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2019

A tale of two explanations: Enhancing human trust by explaining robot behavior

Mark Edmonds, Feng Gao, Hangxin Liu, Xu Xie, Si-Yuan Qi, B. Rothrock, Yixin Zhu, Ying Wu, Hong-Jing Lu, Song-Chun Zhu

Science Robotics

DOI

2018

Interactive Robot Knowledge Patching Using Augmented Reality

Hangxin Liu, Yaofang Zhang, Wen-Wen Si, Xu Xie, Yixin Zhu, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2018

Unsupervised Learning of Hierarchical Models for Hand-Object Interactions

Xu Xie, Hangxin Liu, Mark Edmonds, Feng Gaol, Si-Yuan Qi, Yixin Zhu, B. Rothrock, Song-Chun Zhu

IEEE International Conference on Robotics and Automation

DOI

2017

A glove-based system for studying hand-object manipulation via joint pose and force sensing

Hangxin Liu, Xu Xie, Matt Millar, Mark Edmonds, Feng Gao, Yixin Zhu, V. Santos, B. Rothrock, Song-Chun Zhu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2017

Feeling the force: Integrating force and pose for fluent discovery through imitation learning to open medicine bottles

Mark Edmonds, Feng Gao, Xu Xie, Hangxin Liu, Si-Yuan Qi, Yixin Zhu, B. Rothrock, Song-Chun Zhu

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2016

Non-field-of-view sound source localization using diffraction and reflection signals

Kuya Takami, Hangxin Liu, T. Furukawa, M. Kumon, G. Dissanayake

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

精选作品

期刊论文

Chain Of Interaction Benchmark (COIN): When Reasoning meets Embodied Interaction

Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning

用于重建物理和虚拟抓取的可重构数据手套（英文）

M${}^{3}$Bench: Benchmarking Whole-Body Motion Generation for Mobile Manipulation in 3D Scenes

MiniTac: An Ultra-Compact $\text{8 mm}$ Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes

On the Emergence of Symmetrical Reality

LLM3: Large Language Model-based Task and Motion Planning with Motion Failure Reasoning

Embedding high-resolution touch across robotic hands enables adaptive human-like grasping

Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

L$^{3}$ F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing

A Learning-Free Method for Locomotion Mode Prediction by Terrain Reconstruction and Visual-Inertial Odometry

Learning a Causal Transition Model for Object Cutting

Part-level Scene Reconstruction Affords Robot Interaction

Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments

Sequential Manipulation Planning for Over-Actuated Unmanned Aerial Manipulators

Aggregating Single-Wheeled Mobile Robots for Omnidirectional Movements

Rearrange Indoor Scenes for Human-Robot Co-Activity

Scene Reconstruction with Functional Objects for Robot Autonomy

Sequential Manipulation Planning on Scene Graph

Understanding Physical Effects for Effective Tool-Use

Planning Sequential Tasks on Contact Graph

Object Gathering with a Tethered Robot Duo

Downwash-aware Control Allocation for Over-actuated UAV Platforms

A Wireless Somatosensory Feedback System Using Human Body Communication

Patching Interpretable And‐Or‐Graph Knowledge Representation using Augmented Reality

Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments

A Somatosensory Feedback System in 180nm CMOS

Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning

Congestion-aware Evacuation Routing using Augmented Reality Devices

Joint Inference of States, Robot Knowledge, and Human (False-)Beliefs

Human-Robot Interaction in a Shared Augmented Reality Workspace

Dark, Beyond Deep: A Paradigm Shift to Cognitive AI with Humanlike Common Sense

High-Fidelity Grasping in Virtual Reality using a Glove-based System

Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions

VRGym: a virtual testbed for physical and interactive AI

Self-Supervised Incremental Learning for Sound Source Localization in Complex Indoor Environment

A tale of two explanations: Enhancing human trust by explaining robot behavior

Interactive Robot Knowledge Patching Using Augmented Reality

Unsupervised Learning of Hierarchical Models for Hand-Object Interactions

A glove-based system for studying hand-object manipulation via joint pose and force sensing

Feeling the force: Integrating force and pose for fluent discovery through imitation learning to open medicine bottles

Non-field-of-view sound source localization using diffraction and reflection signals

研究方向