Yichen Xie

Yichen Xie (谢熠辰)

Hi, there! I am a fifth-year Ph.D. (Sep. 2021 - ) at UC Berkeley under the supervision of under the supervision of Prof. Masayoshi Tomizuka in the Mechanical Systems Control (MSC) Lab, which is affiliated with the Berkeley Artificial Intelligence Research (BAIR). During my graduate study, I am fortunate to have the opportunity as an intern at Apple, Waymo, Applied Intuition and Cruise.

Prior to this, I obtained my B.Eng (Sep. 2017 - Jun. 2021) in Computer Science and Engineering from Shanghai Jiao Tong University with an honor degree at Zhiyuan Honors Program, where I was advised by Prof. Cewu Lu and Prof. Quanshi Zhang.

My primary research interests focus on multimodal foundation models and 3D computer vision, especially their intersection and their applications to embodied agents.

I am open to collaboration!
Please feel free to contact me if interested!

Email / Google Scholar / Github / LinkedIn

yichen_xie@berkeley.edu

Selected Publications (see full list)

	URoPE: Universal Relative Position Embedding across Geometric Spaces Yichen Xie, Depu Meng, Chensheng Peng, Yihan Hu, Quentin Herau, Masayoshi Tomizuka, Wei Zhan Under Review arXiv / project
	Multi-Camera View Scaling for Data-Efficient Robot Imitation Learning Yichen Xie, Yixiao Wang, Shuqi Zhao, Cheng-En Wu, Masayoshi Tomizuka, Jianwen Xie, Hao-Shu Fang Under Review arXiv / project
	DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation Hao-Shu Fang, Branden Romero, Yichen Xie, Arthur Hu, Bo-Ruei Huang, Juan Alvarez, Matthew Kim, Gabriel Margolis, Kavya Anbarasu, Masayoshi Tomizuka, Edward Adelson, Pulkit Agrawal Under Review arXiv / project
	RAYNOVA: Scale-Temporal Autoregressive World Modeling in Ray Space Yichen Xie, Chensheng Peng, Mazen Abdelfattah, Yihan Hu, Jiezhi Yang, Eric Higgins, Ryan Brigden, Masayoshi Tomizuka, Wei Zhan Outstanding Paper, RIWM Workshop@ICCV 2025 CVPR 2026 arXiv / project
	S4-Driver: Scalable Self-Supervised Driving Multimodal Large Language Modelwith Spatio-Temporal Visual Representation Yichen Xie, Runsheng Xu, Tong He, Jyh-Jing Hwang, Katie Luo, Jingwei Ji, Hubert Lin, Letian Chen, Yiren Lu, Zhaoqi Leng, Dragomir Anguelov, Mingxing Tan CVPR 2025 arXiv / project
	X-Drive: Cross-modality consistent multi-sensor data synthesis for driving scenarios Yichen Xie, Chenfeng Xu, Chensheng Peng, Shuqi Zhao, Nhat Ho, Alexander T. Pham, Mingyu Ding, Masayoshi Tomizuka, Wei Zhan ICLR 2025 arXiv / code
	Cohere3D: Exploiting Temporal Coherence for Unsupervised Representation Learning of Vision-based Autonomous Driving Yichen Xie, Hongge Chen, Gregory P. Meyer, Yong Jae Lee, Eric M. Wolff, Masayoshi Tomizuka, Wei Zhan, Yuning Chai, Xin Huang ICRA 2025 arXiv
	Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang, Yifei Zhang, Mingxiao Huo, Ran Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka CoRL 2024 arXiv / code / project
	AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, Cewu Lu T-RO 2023 arXiv / code / project
	SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detection Yichen Xie, Chenfeng Xu, Marie-Julie Rakotosaona, Patrick Rim, Federico Tombari, Kurt Keutzer, Masayoshi Tomizuka, Wei Zhan ICCV 2023 arXiv / code
	Towards Free Data Selection with General-Purpose Models Yichen Xie, Mingyu Ding, Masayoshi Tomizuka, Wei Zhan NeurIPS 2023 arXiv / code
	Active Finetuning: Exploiting Annotation Budget in the Pretraining-Finetuning Paradigm Yichen Xie, Han Lu, Junchi Yan, Xiaokang Yang, Masayoshi Tomizuka, Wei Zhan CVPR 2023, T-PAMI 2025 arXiv / code
	Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka ICRA 2023 arXiv
	Spatio-temporal Self-Supervised Representation Learning for 3D Point Clouds Siyuan Huang, Yichen Xie, Song-Chun Zhu, Yixin Zhu ICCV 2021 arXiv / code / project
	DIRV: Dense Interaction Region Voting for End-to-End Human-Object Interaction Detection Hao-Shu Fang, Yichen Xie, Dian Shao, Cewu Lu AAAI 2021 arXiv / code
	Interpreting Multivariate Shapley Interactions in DNNs Hao Zhang, Yichen Xie, Longjie Zheng, Die Zhang, Quanshi Zhang AAAI 2021 arXiv / code

Experiences

Machine Learning Intern @ Apple (May 2025 - Aug. 2025)

Advisor: Haofeng Chen, Shreyash Pandey

Worked on multimodal LLM agent

Research Intern @ Applied Intuition (Jan. 2025 - May 2025)

Advisor: Yihan Hu

Worked on world model

Research Science Intern @ Waymo (May 2024 - Nov. 2024)

Advisor: Tong He, Runsheng Xu

Worked on vision-language action model

AI Research Intern @ (GM) Cruise (May 2023 - Nov. 2023)

Advisor: Cyrus Huang, Hongge Chen

Worked on self-supervised representation learning

Selected Honors

Zhiyuan Outstanding Student Scholarship, 2021.

China National Scholarship, 2018, 2019, 2020.

Services

Reviewer of CVPR, ICCV, ECCV, ICLR, NeurIPS, ICML, ICRA, IROS.

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