📝 Publications

* denotes equal contribution, † denotes project lead, ✉ denotes corresponding author

BeingBeyond Series

arxiv

Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
Hao Luo*, Ye Wang*, Wanpeng Zhang*, Sipeng Zheng*^†, Ziheng Xi, Chaoyi Xu, Haiweng Xu, Haoqi Yuan, Chi Zhang, Yiqing Wang, Yicheng Feng, Zongqing Lu^✉

Blog | Code | Model

• Robots do not just look different. They also act through different physical control languages: different kinematics, sensors, action conventions, and timing. Being-H0.5 is our attempt to make one Vision-Language-Action model travel across those differences without turning into a brittle collection of per-robot hacks. The model is trained using over 35,000 hours of data, including 16,000 hours of human videos and 14,000 hours of robot manipualtion (30+ embodiments).

arxiv

Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos
Hao Luo*, Yicheng Feng*, Wanpeng Zhang*, Sipeng Zheng*^†, Ye Wang, Haoqi Yuan, Jiazheng Liu, Chaoyi Xu, Qin Jin, Zongqing Lu^✉

Blog | Code | Model

• Being-H0 is the first VLA pretrained from large-scale human videos with hand motion.

ICCV 2025

Being-M0.5: A Real-Time Controllable Vision-Language-Motion Model
Bin Cao*, Sipeng Zheng*, Ye Wang, Lujie Xia, Qianshan Wei, Qin Jin, Jing Liu, Zongqing Lu^✉

ICCV25

Blog | Page

• Being-M is the first large motion generation model scaling to million-level motion sequences.

Being-M0: Scaling Large Motion Models with Million-Level Human Motions (ICML 2025)

ICCV 2025

Being-VL0.5: Unified Multimodal Understanding via Byte-Pair Visual Encoding
Wanpeng Zhang, Yicheng Feng, Hao Luo, Yijiang Li, Zihao Yue, Sipeng Zheng, Zongqing Lu^✉

ICCV25 (Highlight)

Blog | Code | Page

• Being-VL is the first large multimodal model based on compressed discrete visual representation using 2D-BPE.

Being-VL-0: From Pixels to Tokens: Byte-Pair Encoding on Quantized Visual Modalities (ICLR 2025)

🎙 Before BeingBeyond

ICLR 2024

Steve-Eye: Equipping LLM-based Embodied Agents with Visual Perception in Open Worlds, Sipeng Zheng, Jiazheng Liu, Yicheng Feng, Zongqing Lu^✉

ICLR24 (Spotlight 5.02%)

Project | Code

ECCV 2022

Few-shot Action Recognition with Hierarchical Matching and Contrastive Learning, Sipeng Zheng, Shizhe Chen, Qin Jin^✉

ECCV22

Code

CVPR 2022

VRDFormer: End-to-end video visual relation detection with transformer, Sipeng Zheng, Shizhe Chen, Qin Jin^✉

CVPR22 (Oral 4.14%)

Code

📚 Paper List

• Arxiv 2026 Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization, Hao Luo*, Ye Wang*, Wanpeng Zhang*, Sipeng Zheng*^†, Ziheng Xi, Chaoyi Xu, Haiweng Xu, Haoqi Yuan, Chi Zhang, Yiqing Wang, Yicheng Feng, Zongqing Lu^✉, Blog | Code | Model.

• Arxiv 2025 DiG-Flow: Discrepancy-Guided Flow Matching for Robust VLA Models, Wanpeng Zhang, Ye Wang, Hao Luo, Haoqi Yuan, Yicheng Feng, Sipeng Zheng, Qin Jin, Zongqing Lu^✉, Blog | Code.

• Arxiv 2025 Robust Motion Generation using Part-level Reliable Data from Videos, Boyuan Li, Sipeng Zheng, Bin Cao, Ruihua Song, Zongqing Lu.

• Arxiv 2025 Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos, Hao Luo*, Yicheng Feng*, Wanpeng Zhang*, Sipeng Zheng*^†, Ye Wang, Haoqi Yuan, Jiazheng Liu, Chaoyi Xu, Qin Jin, Zongqing Lu^✉, Blog | Code | Model.

• Arxiv 2025 RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control, Junpeng Yue, Zepeng Wang, Yuxuan Wang, Weishuai Zeng, Jiangxing Wang, Xinrun Xu, Yu Zhang, Sipeng Zheng, Ziluo Ding, Zongqing Lu^✉, Page.

• CVPR 2026 Predictive Embedding as Latent Action: Towards VLA Pretraining in the Wild, Hao Luo, Ye Wang, Wanpeng Zhang, Haoqi Yuan, Yicheng Feng, Haiweng Xu, Sipeng Zheng, Zongqing Lu^✉,

• CVPR 2026 OpenT2M: No-frill Motion Generation with Open-source, Large-scale, High-quality Data, Bin Cao, Sipeng Zheng, Hao Luo, Boyuan Li, Jing Liu, Zongqing Lu.

• CVPR 2026 Spatial-Aware VLA Pretraining through Visual-Physical Alignment from Human Videos, Yicheng Feng, Wanpeng Zhang, Ye Wang, Hao Luo, Haoqi Yuan, Sipeng Zheng, Zongqing Lu^✉, Page | Project.

• NeurIPS 2025 OpenMMEgo: Enhancing Egocentric Understanding for LMMs with Open Weights and Data, Hao Luo, Zihao Yue, Wanpeng Zhang, Yicheng Feng, Sipeng Zheng, Deheng Ye, Zongqing Lu. Boshen Xu, Yuting Mei, Xinbi Liu, Sipeng Zheng, Jin Qin^✉.

• NeurIPS 2025 EgoDTM: Towards 3D-Aware Egocentric Video-Language Pretraining, Boshen Xu, Yuting Mei, Xinbi Liu, Sipeng Zheng, Jin Qin^✉, Code.

• EMNLP 2025 Taking Notes Brings Focus? Towards Multi-Turn Multimodal Dialogue Learning, Jiazheng Liu, Sipeng Zheng, Börje F Karlsson, Zongqing Lu^✉.

• ICCV 2025 Unified Multimodal Understanding via Byte-Pair Visual Encoding, Wanpeng Zhang, Yicheng Feng, Hao Luo, Yijiang Li, Zihao Yue, Sipeng Zheng, Zongqing Lu^✉, Blog ｜ Code ｜ Page.

• ICCV 2025 MotionCtrl: A Real-time Controllable Vision-Language-Motion Model, Bin Cao*, Sipeng Zheng*, Ye Wang, Lujie Xia, Qianshan Wei, Qin Jin, Jing Liu, Zongqing Lu^✉.

• ICCV 2025 VideoOrion: Tokenizing Object Dynamics in Videos, Yicheng Feng*, Yijiang Li*, Wanpeng Zhang, Sipeng Zheng, Zongqing Lu^✉.

• Arxiv 2025 QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds, Yuting Mei*, Ye Wang*, Sipeng Zheng, Qin Jin^✉, Page.

• ICML 2025 Scaling Large Motion Models with Million-Level Human Motions, Ye Wang*, Sipeng Zheng*, Bin Cao, Qianshan Wei, Weishuai Zeng, Qin Jin, Zongqing Lu^✉, Page.

• ICLR 2025 EgoNCE++: Do Egocentric Video-Language Models Really Understand Hand-Object Interactions?, Boshen Xu, Ziheng Wang, Yang Du, Zhinan Song, Sipeng Zheng, Qin Jin^✉, Code.

• ICLR 2025 From Pixels to Tokens: Byte-Pair Encoding on Quantized Visual Modalities, Wanpeng Zhang, Zilong Xie, Yicheng Feng, Yijiang Li, Xingrun Xing, Sipeng Zheng, Zongqing Lu^✉, Page.

• 3DV 2025 SPAFormer: Sequential 3D Part Assembly with Transformers, Boshen Xu, Sipeng Zheng, Qin Jin^✉, Code.

• ECCV 2024 UniCode: Learning a Unified Codebook for Multimodal Large Language Models, Sipeng Zheng, Bohan Zhou, Yicheng Feng, Ye Wang, Zongqing Lu^✉.

• ICLR 2024 Steve-Eye: Equipping LLM-based Embodied Agents with Visual Perception in Open Worlds, Sipeng Zheng, Jiazheng Liu, Yicheng Feng, Zongqing Lu^✉, Page.

• NAACL 2024 LLaMA Rider: Spurring Large Language Models to Explore the Open World, Yicheng Feng, Yuxuan Wang, Jiazheng Liu, Sipeng Zheng, Zongqing Lu^✉, Page.

• ACM-MM 2023 POV: Prompt-Oriented View-agnostic Learning for Egocentric Hand-Object Interaction in the Multi-view World, Boshen Xu, Sipeng Zheng, Qin Jin^✉, Page ｜ Code.

• AAAI 2023 No-frills Temporal Video Grounding: Multi-Scale Neighboring Attention and Zoom-in Boundary Detection, Qi Zhang, Sipeng Zheng, Qin Jin^✉, Code.

• CVPR 2023 Open-Category Human-Object Interaction Pre-Training via Language Modeling Framework, Sipeng Zheng, Boshen Xu, Qin Jin^✉.

• AAAI 2023 Accommodating audio modality in CLIP for multimodal processing, Ludan Ruan, Anwen Hu, Yuqing Song, Lliang Zhang, Sipeng Zheng, Qin Jin^✉.

• IEEC 2023 Anchor-Based Detection for Natural Language Localization in Ego-Centric Videos, Sipeng Zheng, Bei Liu, Jianlong Fu, Wen-Huang Cheng^✉, Code.

• ECCV 2022 Few-shot Action Recognition with Hierarchical Matching and Contrastive Learning, Sipeng Zheng, Shizhen Chen, Qin Jin^✉, Code.

• CVPR 2022 VRDFormer: End-to-end video visual relation detection with transformer, Sipeng Zheng, Shizhe Chen, Qin Jin^✉, Code.

• CVPR 2022 workshop Exploring anchor-based detection for ego4d natural language query, Sipeng Zheng, Qi Zhang, Bei Liu, Qin Jin^✉, Jianlong Fu, , Code.

• ICME 2020 Skeleton-based interactive graph network for human object interaction detection, Sipeng Zheng, Shizhe Chen, Qin Jin^✉, , Code.

• ACM-MM 2019 Visual relation detection with multi-level attention, Sipeng Zheng, Shizhe Chen, Qin Jin^✉.

• ACM-MM 2019 Relation understanding in videos, Sipeng Zheng, Xiangyu Chen, Shizhe Chen, Qin Jin^✉.