Publications

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  Agile and Controllable Omnidirectional Fast-start Maneuvers of Robotic Fish via Bio-inspired Reinforcement Learning

  Xu Huang, Xiaozhu Lin, Xiaopei Liu, Yang Wang,

  IEEE International Conference on Robotics and Automation (ICRA 2026), Accepted, 2026.

  Paper · Video

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  A Highly-Efficient Hybrid Simulation System for Flight Controller Design and Evaluation of Unmanned Aerial Vehicles

  Jiwei Wang, Wenbin Song, Yicheng Fan, Yang Wang, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH Asia 2025), Volume 44, Issue 6, Article 198, 2025. — Best Paper Honorable Mention Award

  Paper · Video

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  A Hybrid LBM-FVM Solver for Simulating Multiphase Multi-Component Fluids

  Lin Ding, Xiaopei Liu,

  IEEE Transactions on Visualization and Computer Graphics (TVCG), Early Access, 2025.

  Paper · Video

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  A Spatiotemporal Downwash Modeling for Agile Close-Proximity Multirotor Flight

  Pavel Kharitenko, Yicheng Fan, Xiaopei Liu, Yang Wang,

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Accepted, 2025.

  Paper

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  Learning Flow-Adaptive Dynamic Model for Robotic Fish Swimming in Unknown Background Flow

  Kaitian Chao, Xiaozhu Lin, Xiaopei Liu, Yang Wang,

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Accepted, 2025.

  Paper · Video

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  Creating Fluid-Interactive Virtual Agents by an Efficient Simulator with Local-domain Control

  Wenbin Song, Heng Zhang, Yang Wang, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH 2025), Volume 44, Issue 4, Article 103, 2025. — Video clip selected in the technical paper trailer

  Paper · Video

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  A Hybrid Near-wall Model for Kinetic Simulation of Turbulent Boundary Layer Flows

  Mengyun Liu, Kai Bai, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH 2025), Volume 44, Issue 4, Article 148, 2025.

  Paper · Video

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  Ambient Flow Perception of Freely Swimming Robotic Fish Using an Artificial Lateral Line System

  Hongru Dai, Xiaozhu Lin, Kaitian Chao, Yang Wang,

  IEEE International Conference on Robotics and Automation (ICRA 2025), Accepted, 2025.

  Paper · Video

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  Simulating Two-Phase Fluid-Rigid Interactions With an Overset-Grid Kinetic Solver

  Xiaoyu Xiao, Lin Ding, Yiheng Wu, Kai Bai, Xiaopei Liu,

  IEEE Transactions on Visualization and Computer Graphics (TVCG), Volume 31, Issue 10, pp8397-8412, 2025.

  Paper · Video

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  Learning Agile Swimming: An End-to-End Approach Without CPGs

  Xiaozhu Lin, Xiaopei Liu, Yang Wang,

  IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 2, pp. 1992-1999, 2025.

  Paper · Video

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  Data-Driven Modeling of Ground Effect For UAV Landing on a Vertical Oscillating Platform

  Binglin He, Heng Zhang, Baisheng Lai, Song Liu, Yang Wang,

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted, 2024.

  Paper

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  Dynamic Modeling of Robotic Fish considering Background Flow using Koopman Operators

  Xiaozhu Lin, Song Liu, Chengyuan Liu, Yang Wang,

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Accepted, 2024.

  Paper · Video

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  Multi-Level Progressive Reinforcement Learning for Control Policy in Physical Simulations

  Kefei Wu, Xuming He, Yang Wang, Xiaopei Liu,

  IEEE International Conference on Robotics and Automation (ICRA 2024), 2024.

  Paper

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  Hybrid LBM-FVM solver for two-phase flow simulation

  Yihui Ma, Xiaoyu Xiao, Wei Li, Mathieu Desbrun, Xiaopei Liu,

  Journal of Computational Physics (JCP), Volume 506, 112920, 2024.

  Paper

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  A Parametric Kinetic Solver for Simulating Boundary-Dominated Turbulent Flow Phenomena

  Mengyun Liu, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH Asia 2023), Volume 42, Issue 6, Article 189, 2023.

  Paper · Video

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  Exploring Learning-Based Control Policy for Fish-Like Robots in Altered Background Flows

  Xiaozhu Lin, Wenbin Song, Xiaopei Liu, Xuming He, Yang Wang,

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Accepted, 2023.

  Paper · Video

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  Building a Virtual Weakly-Compressible Wind Tunnel Testing Facility

  Chaoyang Lyu, Kai Bai, Yiheng Wu, Mathieu Desbrun, Changxi Zheng, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH 2023), Volume 32, Issue 4, Article 125, 2023. — Video clip selected in the technical paper trailer

  Paper · Video

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  FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning

  Wenji Liu, Kai Bai, Xuming He, Shuran Song, Changxi Zheng, Xiaopei Liu,

  IEEE International Conference on Robotics and Automation (ICRA 2022), Accepted, 2022.

  Paper · Video

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  Predicting high-resolution turbulence details in space and time

  Kai Bai, Chunhao Wang, Mathieu Desbrun, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH Asia 2021), Volume 40, Issue 6, Article 200, 2021.

  Paper · Video

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  Fast and versatile fluid-solid coupling for turbulent flow simulation

  Chaoyang Lyu, Wei Li, Mathieu Desbrun, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH Asia 2021), Volume 40, Issue 6, Article 201, 2021. — Video clip selected in the technical paper trailer

  Paper · Video

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  GPU Optimization for High-Quality Kinetic Fluid Simulationn

  Yixin Chen, Wei Li, Rui Fan, Xiaopei Liu,

  IEEE Transactions on Visualization and Computer Graphics (TVCG), Volume 28, Issue 9, pp3235-3251, 2021.

  Paper · Video

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  Dynamic Upsampling of Smoke through Dictionary-based Learning

  Kai Bai, Wei Li, Mathieu Desbrun, Xiaopei Liu,

  ACM Transactions on Graphics (TOG), Volume 40, Issue 1, Article 4, 2020.

  Paper · Video

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  Fast and scalable turbulent flow simulation with two-way coupling

  Wei Li, Yixin Chen, Mathieu Desbrun, Changxi Zheng, Xiaopei Liu,

  ACM Transactions on Graphics (SIGGRAPH 2020), Volume 39, Issue 4, Article 47, 2020. — Video clip selected in the technical paper trailer, results selected to be the back cover of the journal

  Paper · Video