About me

I am a Ph.D. student working on robotics and machine learning. My research interests include leveraging robot manipulation by imitation learning, reinforcement learning, and streamlining robotic systems to fulfill real-world applications. Currently, I am working on applying geometric deep learning to SE(3) robotic policy learning.

Besides being passionate about robotics, I also enjoy mountain and road biking, photography, and watching inspiring videos on YouTube.

Internship

• (2024 Summer) Amazon Robotics, supervised by Jane Shi and Fan Wang.
• (2023 Summer) Robotics and AI Institute, supervised by Prof. Aaron Dollar.

Education

• (2020-Present) Ph.D., Khoury College of Computer Sciences , Northeastern University. I am working in The Helping Hands Lab, advised by Professor Robert Platt.

• (2017-2020) M.S, Robotics, Northeastern University, Boston, MA, USA

• (2013-2017) B.S, Automation, South China University of Technology, Guangzhou, Guangdong, China

Publication

EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation
Xupeng Zhu, Yu Qi*, Yizhe Zhu*, Robin Walter^†, Robert Platt^†
In submission
(Arxiv) (Leaderboard)

SE(3)-Equivariant Diffusion Policy in Spherical Fourier Space
Xupeng Zhu, Fan Wang, Robin Walters, Jane Shi
ICML 2025

(Video) (PDF)
(Code)

Forces for Free: Vision-Based Contact Force Estimation with a Compliant Hand
Yifan Zhu*, Mei Hao*, Xupeng Zhu*, Quentin Bateux, Alex Wong, Aaron M. Dollar
Science Robotics, Volume 10, Issue 103, Jun 2025
(PDF)

3D Equivariant Visuomotor Policy Learning via Spherical Projection
Boce Hu, Dian Wang, David Klee, Heng Tian, Xupeng Zhu, Haojie Huang, Robert Platt, Robin Walters Preprint
(ArXiv) ` `
` `

Hierarchical Equivariant Policy via Frame Transfer
Haibo Zhao*, Dian Wang*, Yizhe Zhu, Xupeng Zhu, Owen Howell, Linfeng Zhao, Yaoyao Qian, Robin Walters, Robert Platt
ICML 2025
(Arxiv) ` `
` `

Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization
Boce Hu*, Heng Tian*, Dian Wang, Haojie Huang, Xupeng Zhu, Robin Walters, Robert Platt
Preprint
(Arxiv) ` `
` `

Coarse-to-Fine 3D Keyframe Transporter
Xupeng Zhu, David Klee*, Dian Wang*, Boce Hu, Haojie Huang, Arsh Tangri, Robin Walters, Robert Platt
Preprint
(Arxiv) ` `
` `

Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D
Haojie Huang, Owen Lewis Howell*, Dian Wang*, Xupeng Zhu*, Robert Platt^†, Robin Walters^†
ICLR 2024, Vienna, Austria
(Website) (Openreview) (Video) ` `
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A General Theory of Correct, Incorrect, and Extrinsic Equivariance
Dian Wang, Xupeng Zhu, Jung Yeon Park, Robert Platt, Robin Walters
NeurIPS 2023
(PDF) (Code) (Video) ` `
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On Robot Grasp Learning Using Equivariant Models
Xupeng Zhu, Dian Wang, Guanang Su, Ondrej Biza, Robin Walters, Robert Platt
Autonomous Robots. 2023
(PDF) (Code) (Website) (Arxiv) ` `
` `

SEIL: Simulation-augmented Equivariant Imitation Learning
Mingxi Jia*, Dian Wang*, Guanang Su, David Klee, Xupeng Zhu, Robin Walters, Robert Platt
* Equal Contribution
ICRA 2023, London, UK
(PDF) (Page) (Video) ` `
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Edge Grasp Network: Graph-Based SE(3)-invariant Approach to Grasp Detection
Haojie Huang, Dian Wang, Xupeng Zhu, Robin Walters, Robert Platt
ICRA 2023, London, UK
(PDF) (Page) (Code) ` `
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Integrating Symmetry into Differentiable Planning with Steerable Convolutions
Linfeng Zhao, Xupeng Zhu*, Lingzhi Kong*, Robin Walters, Lawson L.S. Wong
ICLR 2023, RLDM 2022
(PDF) (Code) (Page) ` `
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On-Robot Learning With Equivariant Models
Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt
CoRL 2022, Auckland, New Zealand
(Webpage) (PDF) (OpenReview) (Video) ` `
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BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
Dian Wang, Colin Kohler, Xupeng Zhu, Mingxi Jia, Robert Platt
ISRR 2022, Geneva, Switzerland
(PDF) (Code) ` `
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Sample Efficient Grasp Learning Using Equivariant Models
Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters, Robert Platt
RSS 2022, New York, USA
(PDF) (Code) (Website) (Video) ` `
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Equivariant Q Learning in Spatial Action Spaces
Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt
CoRL 2021, London, UK
(PDF) (OpenReview) (Poster) (Page) (Video) (Code) ` `
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Two Hybrid End-Effector Posture-Maintaining and Obstacle-Limits Avoidance Schemes for Redundant Robot Manipulators
Zhijun Zhang, Siyuan Chen, Xupeng Zhu, Ziyi Yan
IEEE Transactions on Industrial Informatics, vol. 16, no. 2, pp. 754-763, Feb. 2020
(PDF) ` `
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* indicates equal contribution; ^† indicates equal advising.

Service

Reviewer: ICML2025, CoRL2024-2022, ICRA2024-2023, T-RO2022

Teaching Assistant: CS5180 Reinforcement Learning, CS5100 Introduction to AI