Publications

^* Equal contribution.

2026

1. 

   Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories

   2026

   Yiyuan Pan^*, Xusheng Luo^*, Hanjiang Hu, Peiqi Yu, and Changliu Liu

   Robotics: Science and Systems,

   arXiv Video Website
2. 

   Robustifying Long-term Human-Robot Collaboration through a Multimodal and Hierarchical Framework

   2026

   Peiqi Yu^*, Abulikemu Abuduweili^*, Ruixuan Liu, and Changliu Liu

   IFAC Cyber-Physical & Human Systems,

   arXiv
3. 

   Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations

   2026

   Peiqi Yu^*, Philip Huang^*, Chaitanya Chawla^*, Guanya Shi, Jiaoyang Li, and Changliu Liu

   ICRA 2026 Workshop on Multi-Agent Robotic Systems: Real-World Collaboration and Interaction,

   arXiv Website
4. 

   ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph

   2026

   Peiqi Yu, Mosam Dabhi, Shangtao Li, Bowei Li, Laszlo Jeni, and Changliu Liu

   Submitted to ICRA 2027,

   arXiv PDF Website
5. 

   Contingency Planning for Safety-Critical Autonomous Vehicles: A Review and Perspectives

   2026

   Lei Zheng, Luyao Zhang, Peiqi Yu, Yifan Sun, Sergio Grammatico, Jun Ma, and Changliu Liu

   arXiv preprint arXiv:2601.14880,

   PDF
6. 

   Dynamic Neural Koopman Distillation for Real-Time Robot Control Using Diffusion Models

   2026

   Lei Zheng, Peiqi Yu, Zengqi Peng, Changliu Liu, and Armin Lederer

   arXiv preprint arXiv:2605.24924,

   arXiv Website

2025

1. 

   NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing

   2025

   Bowei Li^*, Peiqi Yu^*, Zhenran Tang, Han Zhou, Yifan Sun, Ruixuan Liu, and Changliu Liu

   RSS 2025 Workshop on Benchmarking Robot Manipulation,

   arXiv Website

2022

1. 

   Recovering Realistic Details for Magnification-Arbitrary Image Super-Resolution

   2022

   Cheng Ma, Peiqi Yu, Jiwen Lu, and Jie Zhou

   IEEE Transactions on Image Processing,

   PDF