Hi! I’m Baoxiong, a research scientist at BIGAI. I received my Ph.D in the Department of Computer Science, University of California, Los Angeles. My research interests lie in the intersection of computer vision, artificial intelligence, robotics and cognitive science, with a special focus on spatial/temporal reasoning and its application to acting and planning in real world (scene/activity understanding, future prediction, grounded manipulation, etc.). My recent works focus on integrating all my previous research into humanoid robots and make them helpful when I’m old :-)

Previously, I obtained my M.S. from UCLA in 2019 and B.S. from Peking University in 2018.

Info: Email / Google Scholar / CV / Follow @BaoxiongJ

News

• New2026/02 Our paper COLA on Human-Humanoid Collaboration is accepted by ICRA 2026, check it out!
• New2026/02 Our paper SceneCOT on CoT-Reasoning in 3D scenes is accepted by ICLR 2026, check it out!
• New2025/11 Invited tutorial at EIS 2025 hosted by ACM SIGEMBED China, checkout the slides!
• New2025/11 Invited talk at EAIRCon 2025 on 3D Gaussian World Models, checktout the slides!
• 2025/10 SceneWeaver receives the Best Paper at RoboGen@IROS25, checkout the slides and talk (EN)!
• 2025/10 We won the first place at the IROS 25 UniTree Dancing Challenge!
• 2025/10 RoboVerse receives the Best Open-source Award at RoboGen@IROS25!
• 2025/10 Invited talk at HKU and 3DCVer on UniFP and COLA, checktout the slides and talk (CN)!
• 2025/09 UniFP receives the Best Paper Award at CoRL 2025! Oral talk available here!
• 2025/09 One paper on Agentic 3D Scene Generation is accepted by NeurIPS 2025.
• 2025/08 We won the champion of humanoid dancing at World Humanoid Robot Games (WHRG)!
• 2025/06 One paper on Unified Force and Position Control is accepted by CoRL 2025 as Oral!
• 2025/06 Two papers on 4D World Model and Embodied Vision Language are accepted by ICCV 2025!
• 2025/06 I’m co-organizing the 5th 3D Scene Understanding workshop at CVPR 2025. See you in Nashvile!
• 2025/04 RoboVerse is accepted by RSS 2025! Go check it out here!
• 2025/03 I recently gave a summary of our work at BostonDynamics. Checktout the slides!
• 2025/02 Four papers on 3D Scene Understanding and Reconstruction are accepted by CVPR 2025!
• 2025/01 Two papers on Mobile Manipulation and Articulated Part Generation are accepted by ICRA 2025!
• 2025/01 One paper on Articulated Object Reconstruction is accepted by ICLR 2025!
• 2024/12 One paper on Multi-modal 3D Situated Reasoning is accepted by NeurIPS 2024!
• 2024/10 I recently gave a summary of our work at BIGAI at ChinaGraph 2024. Checktout the slides!
• 2024/10 I will be attending ECCV 2024 this year, see you in Milan!
• 2024/07 I recently gave a talk on Embodied 3D Vision on ZhiDX. Checkout the slides!
• 2024/07 SceneVerse is accepted by ECCV 2024. Stay tuned for full data and model release at this link!
• 2024/07 Three papers on 3D-VL and Object-centric Learning is accepted by ECCV 2024.
• 2024/06 Our embodied generalist LEO is accepted by ICML 2024. Check out our code and data at this link.
• 2024/06 I’m co-organizing the MANGO workshop at CVPR 2024. See you in Seattle!
• 2024/06 SceneVerse data is released ! Find the download link and instructions at this link.
• 2024/06 Two papers on 3D motion and scene generation accepted by CVPR 2024 as Highlight.
• 2024/03 LEO code and data is released ! Find the download link and instruction at this link.
• 2024/02 Announcing SceneVerse for 3D-VL learning. Checkout our the project page.

Show more news...

Selected Recent Publications (All publications)

Project

Learning Human-Humanoid Coordination for Collaborative Object Carrying

Yushi Du^* , Yixuan Li^* , Baoxiong Jia^*,✉ , Yutang Lin , Pei Zhou , Wei Liang^✉ , Yanchao Yang^✉ , Siyuan Huang^✉ .

International Conference on Robotics and Automation (ICRA) 2026
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Code

SceneCOT: Eliciting Grounded Chain-of-Thought Reasoning in 3D Scenes

Xiongkun Linghu , Jiangyong Huang , Ziyu Zhu , Baoxiong Jia^✉ , Siyuan Huang^✉ .

International Conference on Learning Representations (ICLR) 2026
(✉ indicates corresponding author.)

Project Code Paper

SceneWeaver: All-in-One 3D Scene Synthesis with an Extensible and Self-Reflective Agent

Yandan Yang^* , Baoxiong Jia^*,✉ , Shujie Zhang , Siyuan Huang^✉ .

Advances in Neural Information Processing Systems (NeurIPS) 2025 ( RoboGen@IROS 2025 Best Paper Award )
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Paper

Learning Unified Force and Position Control for Legged Loco-Manipulation

Peiyuan Zhi^* , Peiyang Li^* , Jianqin Yin , Baoxiong Jia^✉ , Siyuan Huang^✉ .

Conference on Robot Learning (CoRL) 2025 ( Best Paper Award )
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Paper

GWM: Toward Scalable Gaussian World Models for Robotic Manipulation

Guanxing Lu^* , Baoxiong Jia^*,✉ , Puhao Li^* , Yixin Chen , Ziwei Wang , Yansong Tang^✉ , Siyuan Huang^✉ .

International Conference on Computer Vision (ICCV) 2025
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Paper

MetaScenes: Towards Automated Replica Creation for Real-world 3D Scans

Huangyue Yu^* , Baoxiong Jia^* , Yixin Chen^* , Yandan Yang , Puhao Li , Rongpeng Su , Jiaxin Li , Qing Li , Wei Liang , Song-Chun Zhu , Tengyu Liu , Siyuan Huang .

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2025
(* indicates equal contribution.)

Project Code Paper

Unveiling the Mist over 3D Vision-Language Understanding: Object-centric Evaluation with Chain-of-Analysis

Jiangyong Huang^* , Baoxiong Jia^* , Yan Wang , Ziyu Zhu , Xiongkun Linghu , Qing Li , Song-Chun Zhu , Siyuan Huang .

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2025
(* indicates equal contribution.)

Project Paper

Masked Point-Entity Contrast for Open-Vocabulary 3D Scene Understanding

Yan Wang^* , Baoxiong Jia^* , Ziyu Zhu , Siyuan Huang .

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2025
(* indicates equal contribution.)

Project Paper

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

Haoran Geng^* , Feishi Wang^* , Songlin Wei^* , Yuyang Li^* , Bangjun Wang^* , Boshi An^* , Charlie Tianyue Cheng^* , Haozhe Lou , Peihao Li , Yen-Jen Wang , Yutong Liang , Dylan Goetting , Chaoyi Xu , Haozhe Chen , Yuxi Qian , Yiran Geng , Jiageng Mao , Weikang Wan , Mingtong Zhang , Jiangran Lyu , Siheng Zhao , Jiazhao Zhang , Jialiang Zhang , Chengyang Zhao , Haoran Lu , Yufei Ding , Ran Gong , Yuran Wang , Yuxuan Kuang , Ruihai Wu , Baoxiong Jia , Carlo Sferrazza , Hao Dong , Siyuan Huang^✉ , Yue Wang^✉ , Jitendra Malik^✉ , Pieter Abbeel^✉ .

Robotics Science and Systems (RSS) 2025 ( RoboGen@IROS2 2025 Best Open-source Award )
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Paper

Buliding Interactable Replicas of Complex Articulated Objects via Gaussian Splatting

Yu Liu^* , Baoxiong Jia^* , Ruijie Lu , Junfeng Ni , Song-Chun Zhu , Siyuan Huang .

International Conference on Learning Representations (ICLR) 2025
(* indicates equal contribution.)

Project

Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V

Peiyuan Zhi^* , Zhiyuan Zhang^* , Yu Zhao , Muzhi Han , Zeyu Zhang , Zhitian Li , Ziyuan Jiao , Baoxiong Jia^✉ , Siyuan Huang^✉ .

International Conference on Robotics and Automation (ICRA) 2025
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Code Paper

MSR3D: Multi-modal Situated Reasoning in 3D Scenes

Xiongkun Linghu^* , Jiangyong Huang^* , Xuesong Niu^* , Xiaojian Ma , Baoxiong Jia^✉ , Siyuan Huang^✉ .

Advances in Neural Information Processing Systems (NeurIPS) 2024
(* indicates equal contribution. ✉ indicates corresponding author.)

Project Code Supp Paper

SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understanding

Baoxiong Jia^* , Yixin Chen^* , Huangyue Yu , Yan Wang , Xuesong Niu , Tengyu Liu , Qing Li , Siyuan Huang .

European Conference on Computer Vision (ECCV) 2024
OpenSUN3D @ ECCV 2024 (* indicates equal contribution.)

Project Paper

SlotLifter: Slot-guided Feature Lifting for Learning Object-centric Radiance Fields

Yu Liu^* , Baoxiong Jia^* , Yixin Chen , Siyuan Huang .

European Conference on Computer Vision (ECCV) 2024
Wild3D @ ECCV 2024 (* indicates equal contribution.)

Project Code Paper

An Embodied Generalist Agent in 3D World

Jiangyong Huang^* , Silong Yong^* , Xiaojian Ma^* , Xiongkun Linghu , Puhao Li , Yan Wang , Qing Li , Song-Chun Zhu , Baoxiong Jia , Siyuan Huang .

International Conference on Machine Learning (ICML) 2024
GenAI4DM & AGI @ ICLR 2024 (* indicates equal contribution.)

Project Code Paper

PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI

Yandan Yang^* , Baoxiong Jia^* , Peiyuan Zhi , Siyuan Huang .

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2024 ( Highlight )
AI3DG @ CVPR 2024 (* indicates equal contribution.)

Project Code Paper

Move as You Say, Interact as You Can: Language-guided Human Motion Generation with Scene Affordance

Zan Wang , Yixin Chen , Baoxiong Jia , Puhao Li , Jinlu Zhang , Jingze Zhang , Tengyu Liu , Yixin Zhu , Wei Liang , Siyuan Huang .

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2024 ( Highlight )
HuMoGen @ CVPR 2024