Enshen Zhou | 周恩申

I am a first-year Ph.D. student at the School of Software, Beihang University (BUAA), supervised by Prof. Lu Sheng. Previously, I received my Bachelor's degree from the same institution in 2024. During my internships at Shanghai AI Lab, Galbot, and BAAI, I was honored to be advised by Prof. Jing Shao, Prof. He Wang, and Prof. Shanghang Zhang, respectively. I'm always open to collaboration or a good discussion — feel free to contact me via Email or WeChat!

Email / Google Scholar / GitHub / WeChat

News

[2026/06]🎉 RoboTracer and HomeGuard get accepted to ECCV 2026! See you in Malmö, Sweden!

[2026/06]🎉 RefSpatial and RefSpatial-Bench reach 100K+ total downloads! RefSpatial Dataset is now used by Qwen-RoboManip, MolmoAct2, Mimo-Embodied, HY-Embodied, and JoyAI-RA 0.1 to enhance spatial perception ability. RefSpatial-Bench is also now used by Qwen, Seed, Gemini, and Cosmos series to evaluate spatial reasoning in complex embodied scenes.

[2026/05]🎉 Honored to be recognized as an CVPR 2026 Outstanding Reviewer and ICML 2026 Gold Reviewer!

[2026/03] 🎉 Honored to be selected as one of the EAI Next 20 in EAI-100, supported by ModelScope and Alibaba Cloud.

[2026/02]🎉 SaPaVe is selected as CVPR 2026 Highlight (Top 11% of accepted papers, top 3% of all submissions).

[2026/02]🎉 SaPaVe gets accepted to CVPR 2026! See you in Denver, USA!

[2026/02]🎉 TIGeR gets accepted to ICRA 2026! See you in Vienna, Austria!

[2025/12]🎉 Honored to be supported by China Association for Science and Technology Youth Ph.D Talent Support Project!

[2025/11]🎉 One paper Prune4Web is accepted by AAAI 2026! See you in Singapore!

[2025/09]🎉 RoboRefer gets accepted to NeurIPS 2025! See you in San Diego, USA!

[2025/06]🎉 MineDreamer and RH20T-P are both selected as Oral Presentation in IROS 2025! See you in Hangzhou, China!

[2025/05]🎉 WorldSimBench gets accepted to ICML 2025 and selected as Oral Presentation in CVPR 2025 @ WorldModelBench!

[2025/02]🎉 Code-as-Monitor is accepted at CVPR 2025! Come on to see our demos!

[2024/12]🎉 AGFSync gets accepted to AAAI 2025! See you in Philadelphia, USA!

[2024/05]🎉 Honored to organize two workshop (TiFA, MFM-EAI) challenge in ICML 2024!

[2024/02]🎉 MP5 is accepted at CVPR 2024! Please check out the demos in our webpage!

Selected Publications ( *, †, ‡ indicates the equal contributions, corresponding author, project leader, respectively.)

Currently, my interest lies in Embodied Agents, which are at the intersection of Multimodal Large Language Models and Embodied AI, with particular interests in high-level planning and low-level control with spatio-temporal intelligence, working towards an generalist agent in a complex real-world environment. Representative works are highlighted.

	RoboTracer: Mastering Spatial Trace with Reasoning in Vision-Language Models for Robotics Enshen Zhou , Yibo Li , Jingkun An , Jiayuan Zhang, Shanyu Rong, Mengzhen Liu, Yi Han, Yuheng Ji, Huajie Tan, Jiawei He, Pengwei Wang, Zhongyuan Wang, Cheng Chi^†, Lu Sheng^†, Shanghang Zhang^† [Paper] / [Project] / [Code] / [机器之心] / [BibTeX] Copy Success! TL;DR: From what you say to where it moves using RoboTracer!* ECCV 2026
	SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Robotics Mengzhen Liu , Enshen Zhou ^‡*, Cheng Chi, Yi Han, Shanyu Rong, Liming Chen, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang^† [Paper] / [Project] / [BibTeX] Copy Success! TL;DR: The first End-to-End VLA for active perception and manipulation.* CVPR 2026, Highlight (Top 3% of all submissions)
	RoboBrain 2.5: Depth in Sight, Time in Mind. BAAI RoboBrain Team (Core contributor) [Paper] / [Project] / [Code] / [BibTeX] Copy Success! TL;DR: The most powerful open-source embodied brain model to date! Technical Report
	TIGeR: Tool-Integrated Geometric Reasoning in Vision-Language Models for Robotics Yi Han , Enshen Zhou ^‡*, Shanyu Rong, Jingkun An, Pengwei Wang, Zhongyuan Wang, Cheng Chi ^†, Lu Sheng^†, Shanghang Zhang^† [Paper] / [Project] / [Code] / [BibTeX] Copy Success! TL;DR: Equipping VLMs to perform accurate geometric reasoning for robotics!* ICRA 2026
	RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics Enshen Zhou , Jingkun An , Cheng Chi ^‡, Yi Han, Shanyu Rong, Chi Zhang, Pengwei Wang, Zhongyuan Wang, Tiejun Huang, Lu Sheng^†, Shanghang Zhang^† [Paper] / [Project] / [Code] / [机器之心] / [BibTeX] Copy Success! TL;DR: From words to exactly where you mean using RoboRefer!* NeurIPS 2025
	RoboBrain 2.0: See Better. Think Harder. Do Smarter. BAAI RoboBrain Team (Core dataset contributor) [Paper] / [Project] / [Code] / [BibTeX] Copy Success! TL;DR: The most powerful open-source embodied brain model to date! Technical Report
	Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection Enshen Zhou , Qi Su , Cheng Chi ^†, Zhizheng Zhang, Zhongyuan Wang, Tiejun Huang, Lu Sheng^†, He Wang^† [Paper] / [Project] / [BiilBili Video] / [BibTeX] Copy Success! TL;DR: Enjoy Open-world Failure Detection with Real-time high precision!* CVPR 2025
	MineDreamer: Learning to Follow Instructions via Chain-of-Imagination for Simulated-World Control Enshen Zhou , Yinran Qin , Zhenfei Yin, Yuzhou Huang, Ruimao Zhang^†, Lu Sheng^†, Yu Qiao, Jing Shao^‡ [Paper] / [Project] / [Code] / [BibTeX] Copy Success! TL;DR: Use Imagination to Guide agent itself How to Act step-by-step! IROS 2025, Oral Presentation NeurIPS 2024 @ OWA
	MP5: A Multi-modal Open-ended Embodied System in Minecraft via Active Perception Yinran Qin , Enshen Zhou , Qichang Liu , Zhenfei Yin, Lu Sheng^†, Ruimao Zhang^†, Yu Qiao, Jing Shao^‡ [Paper] / [Project] / [BiilBili Video] / [Code] / [BibTeX] Copy Success! TL;DR: Multi-Agent System can Solve Endless Open-ended Long-horizion tasks!* CVPR 2024

Services

Workshop Challenge Organizer:

Trustworthy Multi-modal Foundation Models and AI Agents (TiFA) in ICML 2024.
Multi-modal Foundation Model meets Embodied AI (MFM-EAI) in ICML 2024.

Reviewer: CVPR 2026, ECCV 2026, ICML 2026, NeurIPS 2026, AAAI 2026, ICRA 2026, IROS 2026, TMLR, TVCG

Experience

	Beijing Academy of Artificial Intelligence (BAAI) 2025.1 - present Research Intern Research Advisor: Dr. Cheng Chi, Prof. Shanghang Zhang
	Galbot 2024.8 - 2024.12 Research Intern Research Advisor: Dr. Cheng Chi, Dr. Zhizheng Zhang, Prof. He Wang
	Shanghai AI Lab 2023.8 - 2024.8 Research Intern Research Advisor: Prof. Jing Shao

Education

	Beihang University (BUAA) 2024.09 - present Research Advisor: Prof. Lu Sheng
	Beihang University (BUAA) 2020.09 - 2024.07 Bachelor of Software Engineering GPA ranking: 11/187 Research Advisor: Prof. Lu Sheng

Selected Awards and Honors

2025: The China Association for Science and Technology Youth Ph.D Talent Support Project (中国科协青年科技人才培育工程博士生专项计划)

2025: National Scholarship (国家奖学金)

2025: Segway-Ninebot Scholarship from Beihang University Friends Association

2024: Outstanding Graduate of Beihang University

2023: Special Prize (Top 1) in "Challenge Cup" Competition of Science Achievement in China

2017: Rank 1st/68k in National High School Entrance Examination of Shenzhen