Xinhao Liu | 刘歆昊
Portrait of Xinhao Liu

New York University · AI4CE Lab

Xinhao Liu

Ph.D. Candidate in Computer Science

I am a Ph.D. candidate in Computer Science at NYU AI4CE Lab and Center for Robotics and Embedded Systems (CREO), advised by Prof. Chen Feng. I'm currently also an Applied Scientist Intern at Amazon FAR. Previously, I obtained my B.Sc. in Honors Mathematics and Data Science from New York University and NYU Shanghai.

My research interests lie at the intersection of robotics, computer vision, and deep learning, with a focus on embodied AI in open-world environments. My research focuses on Universal Navigation, where I aim to build embodied intelligence that can go anywhere that humans can go.

Research Keywords: World modeling, Video Understanding, Digital Twins

Recent News

2025

  • Nov Wanderland preprint is released.

  • Nov Joining Amazon FAR (Frontier AI and Robotics) as Applied Scientist Intern.

  • Feb Joining Waymo as summer 2025 intern.

  • Feb CityWalker is accepted to CVPR 2025 — see you in Nashville!

2024

  • Oct TF-VPR is accepted to IEEE RA-L.

  • Sep MSG is accepted to NeurIPS 2024.

  • Jul Occ4cast and SSCBench are accepted to IROS 2024.

Selected Publications

Preprint 2025

Wanderland: Geometrically Grounded Simulation for Open-World Embodied AI

X. Liu*, J. Li*, Y. Deng, R. Chen, Y. Zhang, Y. Ma, L. Guo, Y. Li, J. Zhang, C. Feng

Paper Project
CityWalker teaser

Preprint 2025

Thinking in 360°: Humanoid Visual Search in the Wild

H. Yu*, Y. Han*, X. Zhang, B. Yin, B. Chang, X. Han, X. Liu, J. Zhang, M. Pavone, C. Feng, S. Xie, Y. Li

Paper Project Code Model Dataset Benchmark
CityWalker teaser

CVPR 2025

CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos

X. Liu*, J. Li*, Y. Jiang, N. Sujay, Z. Yang, J. Zhang, J. Abanes, J. Zhang, C. Feng

Paper Project Code
Multiview Scene Graph teaser

NeurIPS 2024

Multiview Scene Graph

J. Zhang, G. Zhu, S. Li, X. Liu, H. Song, X. Tang, C. Feng

Paper Project Code
Occ4cast teaser

IROS 2024

Occ4cast: LiDAR-based 4D Occupancy Completion and Forecasting

X. Liu*, M. Gong*, Q. Fang, H. Xie, Y. Li, H. Zhao, C. Feng

Paper Code Dataset
SSCBench teaser

IROS 2024

SSCBench: Monocular 3D Semantic Scene Completion Benchmark

Y. Li*, S. Li*, X. Liu*, M. Gong*, K. Li, N. Chen, Z. Wang, Z. Li, T. Jiang, et al.

Paper Code
DeepMapping2 teaser

CVPR 2023

DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization

C. Chen*, X. Liu*, Y. Li, L. Ding, C. Feng

Paper Code