Ri-Zhao (Roger) Qiu

I am a final-year PhD student at UCSD, working with Prof. Xiaolong Wang. Before this, I received my BS/MS in mathematics and computer science at UIUC, where I worked with Prof. Kris Hauser and Prof. Yuxiong Wang.

I love full-stack engineering. During my undergrad, I built things from flip-flops to a RISC-V CPU, from hand-written backprop in C++ to TensorRT, from STM32 to NVIDIA Jetson, and spent a happy year forming the Illini RoboMaster club in 2018.

I spent a happy summer as a research intern at NVIDIA working with 🏎️ Erwin Coumans in 2025.

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Selected Research (hover to play)

My research interests lie in the intersection of robotics and computer vision. My research aims at enhancing the mobile manipulation capabilities of robots via CV methods.

In-N-On: Scaling Egocentric Manipulation with In-the-Wild and On-Task Data
Xiongyi Cai*, Ri-Zhao Qiu*, Geng Chen, Lai Wei, Isabella Liu, Tianshu Huang, Xuxin Cheng, Xiaolong Wang
ArXiV, 2025
project website / paper

Pre-training and post-trainigng recipe to learn from human data.

HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
Lai Wei*, Xuanbin Peng*, Ri-Zhao Qiu, Tianshu Huang, Xuxin Cheng, Xiaolong Wang
RSS Whole-body Control and Bimanual Manipulation Workshop, 2025 (Spotlight)
project website / paper

Two-stage heterogeneous meta-control for compliant humanoid bimanual manipulation.

Gsworld: Closed-loop photo-realistic simulation suite for robotic manipulation
Guangqi Jiang*, Haoran Chang*, Ri-Zhao Qiu, Yutong Liang, Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang
ArXiV, 2025
project website / paper / code

Photo-realistic simulation/evaluation suite for robotic manipulation.

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
Ruihan Yang*, Qinxi Yu*, Yecheng Wu, Rui Yan, Borui Li, An-Chieh Cheng, Xueyan Zou, Yunhao Fang, Xuxin Cheng, Ri-Zhao Qiu, Hongxu Yin, Sifei Liu, Song Han, Yao Lu, Xiaolong Wang
ArXiV, 2025
project website / paper / code (model) / code (sim)

Dexterous VLA pre-training on diverse egocentric human manipulation videos.

Maniflow: A general robot manipulation policy via consistency flow training
Ge Yan, Jiyue Zhu*, Yuquan Deng*, Shiqi Yang, Ri-Zhao Qiu, Xuxin Cheng, Marius Memmel, Ranjay Krishna†, Ankit Goyal†, Xiaolong Wang†, Dieter Fox†
CoRL, 2025
project website / paper / code

Consistency flow training for general robot manipulation policy.

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
Jialong Li*, Xuxin Cheng*, Tianshu Huang*, Shiqi Yang, Ri-Zhao Qiu, Xiaolong Wang
RSS, 2025
project website / paper / model example

Dexterous humanoid whole-body control

Humanoid Policy ~ Human Policy
Ri-Zhao Qiu*, Shiqi Yang*, Xuxin Cheng*, Chaitanya Chawla*, Jialong Li, Tairan He,
Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, Xiaolong Wang
CoRL, 2025
project website / paper / code / data

Egocentric human demonstrations as a data source for humanoid manipulation.

3D-Spatial MultiModal Memory (M3)
Xueyan Zou, Yuchen Song, Ri-Zhao Qiu, Xuanbin Peng, Jianglong Ye, Sifei Liu, Xiaolong Wang
ICLR, 2025
project website / paper / code

Memory attention to substitute feature distillation.

WildLMA: Long Horizon Loco-MAnipulation in the Wild
Ri-Zhao Qiu*, Yuchen Song*, Xuanbin Peng*, Sai Aneesh Suryadevara, Ge Yang, Minghuan Liu, Mazeyu Ji, Chengzhe Jia, Ruihan Yang, Xueyan Zou, Xiaolong Wang
ICRA, 2025
project website / paper

Long horizon loco-manipulation with LLM planner and learned wholebody skills.

Learning Generalizable Feature Fields for Mobile Manipulation
Ri-Zhao Qiu*, Yafei Hu*, Yuchen Song, Ge Yang, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, Xiaolong Wang
IROS, 2025
project website / paper

Real-time Generalizable Feature Fields enable Mobile Manipulation.

GraspSplats: Efficient Manipulation with 3D Feature Splatting
Mazeyu Ji*, Ri-Zhao Qiu*, Xueyan Zou, Xiaolong Wang
CoRL, 2024
project website / paper / code

Splatting features enable precise and efficient grasping in dynamic environments.

Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing
Ri-Zhao Qiu*, Ge Yang*, Weijia Zeng, Xiaolong Wang
ECCV, 2024
project website / paper / code

Synthesizing physics-based particle object motion via feature distillation and MPM.

Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu*, Zixuan Chen*, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, Xiaolong Wang
CoRL, 2024 (Oral)
project website / paper / code

A sim-to-real framework that enables the robot to grasp different objects in varying surroundings.

AlignDiff: Aligning Diffusion Models for General Few-Shot Segmentation
Ri-Zhao Qiu, Yu-Xiong Wang†, Kris Hauser†
ECCV, 2024 (Oral)
paper / code

Align diffusion models for generation of images and masks of uncommon classes via few-shot conditioning.

GAPS: Few-Shot Incremental Semantic Segmentation via Guided Copy-Paste Synthesis
Ri-Zhao Qiu, Peiyi Chen, Wangzhe Sun, Yuxiong Wang, Kris Hauser
CVPRW, 2023
Workshop on Learning with Limited Labelled Data
code / paper

We design a method that enables continual segmentation learning with few annotations via a guided data synthesis process.

Real-time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection
Ri-Zhao Qiu*, Yixiao Sun*, Joao Marcos Correia Marques, Kris Hauser
IROS, 2022 (Oral)
code / paper / video

We design a disinfection system that can priortize cleaning of high-touch surfaces like human cleaners by co-designing perception and planning algorithms.

Selected Projects
Perception-control Software Stack for RoboMaster Robots
Zuodong (Nickel) Liang*, Alvin Sun*, Ri-Zhao Qiu*, and other members of Illini Robomaster.
RoboMaster Open-source Award, 2018
Project Page / Embedded Stack (2018) / Perception Stack (2018) / RM Vision 101

We designed and built robots from bolts and metal to perception algorithm. I mainly helped with writing STM32 application software and perception code.

Codebase for Robotics Motion Planning
Ri-Zhao Qiu
Personal Project, 2020
Codebase

I implemented a codebase for robotics motion planning, which supports common problems like 2D narrow passage, bug traps, and robot arm grasping. It implements a variety of algorithms including RRT, RRT*, bRRT, PRM, FMT. In addition to uniform sampling, it also supports non-uniform sampler using conditional autoencoder.

Services & Other Activities

Reviewer for CVPR, ECCV, ICLR, CoRL, IROS, and RA-L.


Borrowed from Jon Barron's source code.