Publications
A collection of my research work.
ω-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
Zhe Li#, Zhenzhe Zhang#, Yangyang Wei#, Wenjie Zhang#, Xichen Yuan#, Peiyuan Zhi, Gen Li, Xinying Guo, Fengjie Gao, Jianfei Yang, Shanghang Zhang
2026
# Equal contribution
DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation
Zheng Yang#, Wenjie Zhang#, Xiangyu Chen, Wenxuan Song, Xianpeng Wang, Yihang Kang, Wen Chen, Lujia Wang, Renjing Xu, Xiaowen Chu
arXiv preprint arXiv:2608.01381 2026
# Equal contribution
Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification
Jiawen Wen, Penglei Sun, Wenjie Zhang, Suixuan Qiu, Weisheng Xu, Xiaofei Yang, Xiaowen Chu
arXiv preprint arXiv:2604.16993 2026
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
B Cai, Q Liang, J Li, S Weng, Z Zhang, T Lin, X Chen, Wenjie Zhang, J Mao
arXiv preprint arXiv:2603.26757 2026
Modality Gap-Driven Subspace Alignment Training Paradigm For Multimodal Large Language Models
Xiaomin Yu, Yi Xin, Yuhui Zhang, Wenjie Zhang, Chonghan Liu, Hanzhen Zhao, Chen Liu, Xiaoxing Hu, Ziyue Qiao, Hao Tang, Xiaobin Hu, Chengwei Qin, Hui Xiong, Yu Qiao, Shuicheng Yan
arXiv preprint arXiv:2602.07026 2026
Unicorn: Text-only data synthesis for vision language model training
Xiaomin Yu, Pengxiang Ding, Wenjie Zhang, Siteng Huang, S Gao, Chengwei Qin, K Wu, Z Fan, Ziyue Qiao
arXiv preprint arXiv:2503.22655 2025
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
Pengxiang Ding, Han Zhao, Wenjie Zhang, Wenxuan Song, Min Zhang, Siteng Huang, Ningxi Yang, Donglin Wang
European Conference on Computer Vision (ECCV) 2025
QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning
Xinyang Tong, Pengxiang Ding, Donglin Wang, Wenjie Zhang, Can Cui, Mingyang Sun, Yiguo Fan, Han Zhao, Hongyin Zhang, Yonghao Dang, Siteng Huang, Shangke Lyu
arXiv preprint arXiv:2412.15576 2024