Xuheng Zhang

I am an undergraduate in the Intelligent Science and Technology program (Zhi Class) at Peking University. I am currently a research intern at Simplexity Robotics, and previously interned at Galbot.

My research focuses on robot foundation models and world models, particularly learning from heterogeneous human and robot data for robotic manipulation.

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2024-2025: National Scholarship

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Jiangran Lyu*, Kai Liu*, Xuheng Zhang*, Haoran Liao, Yusen Feng, Wenxuan Zhu, Tingrui Shen, Jiayi Chen, Jiazhao Zhang, Yifei Dong, Wenbo Cui, Senmao Qi, Shuo Wang, Yixin Zheng, Mi Yan, Xuesong Shi, Haoran Li, Dongbin Zhao, Ming-Yu Liu, Zhizheng Zhang^†, Li Yi^†, Yizhou Wang^†, He Wang^†

[Arxiv] [Code] [Project page]

GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Shengliang Deng*, Mi Yan*, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Heming Cui, Zhizheng Zhang^†, He Wang^†

[Arxiv] [Code] [Project page]

Simplexity Robotics 2026.03 - Present

Research Intern

Core contributor to Simplexity's next-generation embodied foundation model, focusing on world-model pretraining and policy learning for robotic manipulation.

GALBOT 2025.05 - 2026.02

Research Intern

Research Advisors: Zhizheng Zhang, He Wang

Peking University (PKU) 2024.09 - 2028.07 (expected)

EECS

Zhi Class