Liang Heng

Liang Heng
Undergraduate
Peking University, Yuanpei College
Major in Artificial Intelligence
Email: 2300017716@stu.pku.edu.cn

About Me (Google Scholar)

Personal Info

I am currently a second-year student at Yuanpei College, Peking University, majoring in Artificial Intelligence. My research is supervised by Prof. Hao Dong, focusing on robotic manipulation.

Internship

From 07/2024 to today, I am a research intern at PKU-Agibot Joint Lab, supervised by Hao Dong.

Research Interests

My research mainly focuses on Robot Manipulation and Computer Vision.

Publications

RwoR: Generating Robot Demonstrations from Human Hand Collection for Policy Learning without Robot
Liang Heng, Xiaoqi Li, Shangqing Mao, Jiaming Liu, Ruolin Liu, Jingli Wei, Yu-Kai Wang, Yueru Jia, Chenyang Gu, Rui Zhao, Shanghang Zhang, Hao Dong

International Conference on Intelligent Robots and Systems (IROS), 2025

[Project] [PDF]

ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
Liang Heng, Haoran Geng, Kaifeng Zhang, Pieter Abbeel, Jitendra Malik
[Project] [PDF] [Code]

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation
Xiaoqi Li, Lingyun Xu, Mingxu Zhang, Jiaming Liu, Yan Shen, Iaroslav Ponomarenko, Jiahui Xu, Liang Heng, Siyuan Huang, Shanghang Zhang, Hao Dong

Conference on Computer Vision and Pattern Recognition (CVPR), 2025

[PDF]

3D Weakly Supervised Visual Grounding at Category and Instance Levels
Xiaoqi Li, Jiaming Liu, Nuowei Han, Liang Heng, Yandong Guo, Hao Dong, Yang Liu

International Conference on Robotics and Automation (ICRA), 2025

[PDF]

MoLe-VLA: Dynamic Layer-skipping Vision Language Action Model via Mixture-of-Layers for Efficient Robot Manipulation
Rongyu Zhang, Menghang Dong, Yuan Zhang, Liang Heng, Xiaowei Chi, Gaole Dai, Li Du, Yuan Du, Shanghang Zhang
[PDF]

Last Updated on July, 2025