Publications

  • Agile and Controllable Omnidirectional Fast-start Maneuvers of Robotic Fish via Bio-inspired Reinforcement Learning

    Agile and Controllable Omnidirectional Fast-start Maneuvers of Robotic Fish via Bio-inspired Reinforcement Learning

    Xu Huang, Xiaozhu Lin, Xiaopei Liu, Yang Wang

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

    Paper · Video

  • A Highly-Efficient Hybrid Simulation System for Flight Controller Design and Evaluation of Unmanned Aerial Vehicles

    A Highly-Efficient Hybrid Simulation System for Flight Controller Design and Evaluation of Unmanned Aerial Vehicles

    Jiwei Wang, Wenbin Song, Yicheng Fan, Yang Wang, and Xiaopei Liu

    ACM Transactions on Graphics (SIGGRAPH Asia 2025), Volume 44, Issue 6, Article 198, 2025 — Best Paper Honorable Mention Award

    Paper · Video

  • Creating Fluid-Interactive Virtual Agents by an Efficient Simulator with Local-domain Control

    Creating Fluid-Interactive Virtual Agents by an Efficient Simulator with Local-domain Control

    Wenbin Song, Heng Zhang, Yang Wang, Xiaopei Liu

    ACM Transactions on Graphics (SIGGRAPH 2025), Volume 44, Issue 4, Article 103, 2025 — Video clip selected in the technical paper trailer

    Paper · Video

  • A Hybrid Near-wall Model for Kinetic Simulation of Turbulent Boundary Layer Flows

    A Hybrid Near-wall Model for Kinetic Simulation of Turbulent Boundary Layer Flows

    Mengyun Liu, Kai Bai, Xiaopei Liu

    ACM Transactions on Graphics (SIGGRAPH 2025), Volume 44, Issue 4, Article 148, 2025

    Paper · Video

  • Learning Agile Swimming: An End-to-End Approach Without CPGs

    Learning Agile Swimming: An End-to-End Approach Without CPGs

    Xiaozhu Lin, Xiaopei Liu, Yang Wang

    IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 2, pp. 1992-1999, 2025

    Paper · Video

  • A Spatiotemporal Downwash Modeling for Agile Close-Proximity Multirotor Flight

    A Spatiotemporal Downwash Modeling for Agile Close-Proximity Multirotor Flight

    Pavel Kharitenko, Yicheng Fan, Xiaopei Liu, Yang Wang

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Accepted, 2025

    Paper

  • Learning Flow-Adaptive Dynamic Model for Robotic Fish Swimming in Unknown Background Flow

    Learning Flow-Adaptive Dynamic Model for Robotic Fish Swimming in Unknown Background Flow

    Kaitian Chao, Xiaozhu Lin, Xiaopei Liu, Yang Wang

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Accepted, 2025

    Paper · Video

  • Ambient Flow Perception of Freely Swimming Robotic Fish Using an Artificial Lateral Line System

    Ambient Flow Perception of Freely Swimming Robotic Fish Using an Artificial Lateral Line System

    Hongru Dai, Xiaozhu Lin, Kaitian Chao, Yang Wang

    IEEE International Conference on Robotics and Automation (ICRA 2025), Accepted, 2025

    Paper · Video

  • Multi-Level Progressive Reinforcement Learning for Control Policy in Physical Simulations

    Multi-Level Progressive Reinforcement Learning for Control Policy in Physical Simulations

    Kefei Wu, Xuming He, Yang Wang and Xiaopei Liu

    IEEE International Conference on Robotics and Automation (ICRA 2024), 2024

    Paper

  • Data-Driven Modeling of Ground Effect For UAV Landing on a Vertical Oscillating Platform

    Data-Driven Modeling of Ground Effect For UAV Landing on a Vertical Oscillating Platform

    Binglin He, Heng Zhang, Baisheng Lai, Song Liu, Yang Wang

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted, 2024

    Paper

  • Dynamic Modeling of Robotic Fish considering Background Flow using Koopman Operators

    Dynamic Modeling of Robotic Fish considering Background Flow using Koopman Operators

    Xiaozhu Lin, Song Liu, Chengyuan Liu, Yang Wang

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted, 2024

    Paper · Video

  • A Parametric Kinetic Solver for Simulating Boundary-Dominated Turbulent Flow Phenomena

    A Parametric Kinetic Solver for Simulating Boundary-Dominated Turbulent Flow Phenomena

    Mengyun Liu and Xiaopei Liu

    ACM Transactions on Graphics (SIGGRAPH Asia 2023), Volume 42, Issue 6, Article 189, 2023

    Paper · Video

  • Exploring Learning-Based Control Policy for Fish-Like Robots in Altered Background Flows

    Exploring Learning-Based Control Policy for Fish-Like Robots in Altered Background Flows

    Xiaozhu Lin, Wenbin Song, Xiaopei Liu, Xuming He, Yang Wang

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Accepted, 2023

    Paper · Video

  • FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning

    FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning

    Wenji Liu, Kai Bai, Xuming He, Shuran Song, Changxi Zheng, Xiaopei Liu

    IEEE International Conference on Robotics and Automation (ICRA 2022), Accepted, 2022

    Paper · Video