Publications | Pushi Zhang (张蒲石)

* Equal contribution. Also on Google Scholar.

2026

Report

Wall-OSS-0.5 Technical Report

Ryan Yu, Pushi Zhang, Starrick Liu, et al. 等 Ryan Yu, Pushi Zhang, Starrick Liu, Brae Liu, Miracle Kang, Shalfun Li, Lights Shi, Ellie Ma, Ping Yang, Chris Pan, Jerry Chen, Dongxiu Liu, Rain Sun, Miles Guo, Byron Zhang, Hugo Zhou, Zach Xu, Vincent Chen, Harrison Huang, James Wang, Dance Kuzi, Andy Zhai, Hang Su, Roy Gan, Lucy Liang, Hao Wang, and Qian Wang

Technical report, arXiv:2605.30877, 2026

arXiv Code Model Project

@article{yu2026walloss,
  title = {Wall-OSS-0.5 Technical Report},
  author = {Yu, Ryan and Zhang, Pushi and Liu, Starrick and Liu, Brae and Kang, Miracle and Li, Shalfun and Shi, Lights and Ma, Ellie and Yang, Ping and Pan, Chris and Chen, Jerry and Liu, Dongxiu and Sun, Rain and Guo, Miles and Zhang, Byron and Zhou, Hugo and Xu, Zach and Chen, Vincent and Huang, Harrison and Wang, James and Kuzi, Dance and Zhai, Andy and Su, Hang and Gan, Roy and Liang, Lucy and Wang, Hao and Wang, Qian},
  journal = {arXiv preprint arXiv:2605.30877},
  year = {2026},
}

Preprint

X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining

Miracle Kang^*, Lights Shi^*, Lucy Liang, …, Pushi Zhang, et al. 等 Miracle Kang^*, Lights Shi^*, Lucy Liang, Roy Gan, Dongxiu Liu, Pushi Zhang, Sylas Chen, Shawn Qin, Yinan Zheng, Jinliang Zheng, Hao Wang, Xianyuan Zhan, and Hang Su

Preprint, arXiv:2606.14752, 2026

arXiv Code Model Project

@article{kang2026xtokenizer,
  title = {X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining},
  author = {Kang, Miracle and Shi, Lights and Liang, Lucy and Gan, Roy and Liu, Dongxiu and Zhang, Pushi and Chen, Sylas and Qin, Shawn and Zheng, Yinan and Zheng, Jinliang and Wang, Hao and Zhan, Xianyuan and Su, Hang},
  journal = {arXiv preprint arXiv:2606.14752},
  year = {2026},
}

Report

WALL-WM: Carving World Action Modeling at the Event Joints

Shalfun Li, Victor Yao, Charles Yang, …, Pushi Zhang, et al. 等 Shalfun Li, Victor Yao, Charles Yang, Truth Qu, Regis Cheng, Ryan Yu, Howard Lu, Newton Von, Vincent Chen, Yohann Tang, Maeve Zhang, Ellie Ma, Gody Li, Starrick Liu, Sage Yang, Lorien Shu, J. W. Gao, Ethan Chen, Colin Ye, Yu Sun, Elise Mon, Pushi Zhang, Neo Li, Lily Li, James Wang, Ping Yang, Chris Pan, Lucy Liang, Hang Su, Roy Gan, Hao Wang, and Qian Wang

Technical report, arXiv:2606.01955, 2026

Early version at ECCV 2026 Workshop (STEAI), Oral

arXiv Code Project

@article{li2026wallwm,
  title = {WALL-WM: Carving World Action Modeling at the Event Joints},
  author = {Li, Shalfun and Yao, Victor and Yang, Charles and Qu, Truth and Cheng, Regis and Yu, Ryan and Lu, Howard and Von, Newton and Chen, Vincent and Tang, Yohann and Zhang, Maeve and Ma, Ellie and Li, Gody and Liu, Starrick and Yang, Sage and Shu, Lorien and Gao, J. W. and Chen, Ethan and Ye, Colin and Sun, Yu and Mon, Elise and Zhang, Pushi and Li, Neo and Li, Lily and Wang, James and Yang, Ping and Pan, Chris and Liang, Lucy and Su, Hang and Gan, Roy and Wang, Hao and Wang, Qian},
  journal = {arXiv preprint arXiv:2606.01955},
  year = {2026},
  note = {Early version at ECCV 2026 Workshop (STEAI), Oral}
}

Report

WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression

Maeve Zhang, Rain Sun, Xiang Wang, …, Pushi Zhang, et al. 等 Maeve Zhang, Rain Sun, Xiang Wang, Cyril Zhang, Shalfun Li, Meng Cao, Howard Lu, Ethan Chen, Harry Jhou, KZ Zheng, Lights Shi, Regis Cheng, Lorenzin, Robert Wang, Victor Yao, Gody Li, Elise Mon, Yohann Tang, Ryan Yu, Pushi Zhang, Vincent Chen, Hang Su, Roy Gan, Hao Wang, and Qian Wang

Technical report, arXiv:2608.26239, 2026

arXiv Project

@article{zhang2026wallss,
  title = {WALL-SS: Scaling Long-horizon World Models via Next-Scale Autoregression},
  author = {Zhang, Maeve and Sun, Rain and Wang, Xiang and Zhang, Cyril and Li, Shalfun and Cao, Meng and Lu, Howard and Chen, Ethan and Jhou, Harry and Zheng, KZ and Shi, Lights and Cheng, Regis and {Lorenzin} and Wang, Robert and Yao, Victor and Li, Gody and Mon, Elise and Tang, Yohann and Yu, Ryan and Zhang, Pushi and Chen, Vincent and Su, Hang and Gan, Roy and Wang, Hao and Wang, Qian},
  journal = {arXiv preprint arXiv:2608.26239},
  year = {2026},
}

ICLR

villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models

Xiaoyu Chen^*, Hangxing Wei^*, Pushi Zhang^*, et al. 等 Xiaoyu Chen^*, Hangxing Wei^*, Pushi Zhang^*, Chuheng Zhang^*, Kaixin Wang^*, Yanjiang Guo, Rushuai Yang, Yucen Wang, Xinquan Xiao, Li Zhao^*, Jianyu Chen, and Jiang Bian

In International Conference on Learning Representations (ICLR), 2026

arXiv Code Model Project

@inproceedings{chen2026villax,
  title = {villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models},
  author = {Chen, Xiaoyu and Wei, Hangxing and Zhang, Pushi and Zhang, Chuheng and Wang, Kaixin and Guo, Yanjiang and Yang, Rushuai and Wang, Yucen and Xiao, Xinquan and Zhao, Li and Chen, Jianyu and Bian, Jiang},
  booktitle = {International Conference on Learning Representations (ICLR)},
  year = {2026},
}

2025

NeurIPS

What Do Latent Action Models Actually Learn?

Chuheng Zhang^*, Tim Pearce^*, Pushi Zhang, Kaixin Wang, Xiaoyu Chen, Wei Shen, Li Zhao, and Jiang Bian

In Advances in Neural Information Processing Systems (NeurIPS), 2025

arXiv

@inproceedings{zhang2025lam,
  title = {What Do Latent Action Models Actually Learn?},
  author = {Zhang, Chuheng and Pearce, Tim and Zhang, Pushi and Wang, Kaixin and Chen, Xiaoyu and Shen, Wei and Zhao, Li and Bian, Jiang},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  volume = {38},
  pages = {146676--146697},
  year = {2025},
}

Preprint

PIG-Nav: Key Insights for Pretrained Image Goal Navigation Models

Jiansong Wan, Chengming Zhou, Jinkua Liu, …, Pushi Zhang, et al. 等 Jiansong Wan, Chengming Zhou, Jinkua Liu, Xiangge Huang, Xiaoyu Chen, Xiaohan Yi, Qisen Yang, Baiting Zhu, Xin-Qiang Cai, Lixing Liu, Rushuai Yang, Chuheng Zhang, Sherif Abdelfattah, Hayong Shin, Pushi Zhang, Li Zhao, and Jiang Bian

Preprint, arXiv:2507.17220, 2025

arXiv Code Model Video

@article{wan2025pignav,
  title = {PIG-Nav: Key Insights for Pretrained Image Goal Navigation Models},
  author = {Wan, Jiansong and Zhou, Chengming and Liu, Jinkua and Huang, Xiangge and Chen, Xiaoyu and Yi, Xiaohan and Yang, Qisen and Zhu, Baiting and Cai, Xin-Qiang and Liu, Lixing and Yang, Rushuai and Zhang, Chuheng and Abdelfattah, Sherif and Shin, Hayong and Zhang, Pushi and Zhao, Li and Bian, Jiang},
  journal = {arXiv preprint arXiv:2507.17220},
  year = {2025},
}

Preprint

UC-MOA: Utility-Conditioned Multi-Objective Alignment for Distributional Pareto-Optimality

Zelei Cheng^*, Xin-Qiang Cai^*, Yuting Tang, Pushi Zhang, Boming Yang, Masashi Sugiyama, and Xinyu Xing

Preprint, arXiv:2503.10669, 2025

arXiv

@article{cheng2025ucmoa,
  title = {UC-MOA: Utility-Conditioned Multi-Objective Alignment for Distributional Pareto-Optimality},
  author = {Cheng, Zelei and Cai, Xin-Qiang and Tang, Yuting and Zhang, Pushi and Yang, Boming and Sugiyama, Masashi and Xing, Xinyu},
  journal = {arXiv preprint arXiv:2503.10669},
  year = {2025},
}

2024

Preprint

IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI

Xiaoyu Chen^*, Junliang Guo^*, Tianyu He^*, Chuheng Zhang^*, Pushi Zhang, Derek Cathera Yang, Li Zhao^*, and Jiang Bian

Preprint, arXiv:2411.00785, 2024

arXiv Project

@article{chen2024igor,
  title = {IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI},
  author = {Chen, Xiaoyu and Guo, Junliang and He, Tianyu and Zhang, Chuheng and Zhang, Pushi and Yang, Derek Cathera and Zhao, Li and Bian, Jiang},
  journal = {arXiv preprint arXiv:2411.00785},
  year = {2024},
}

2023

NeurIPS

Distributional Pareto-Optimal Multi-Objective Reinforcement Learning

Xin-Qiang Cai^*, Pushi Zhang^*, Li Zhao, Jiang Bian, Masashi Sugiyama, and Ashley J. Llorens

In Advances in Neural Information Processing Systems (NeurIPS), 2023

PDF Code

@inproceedings{cai2023distributional,
  title = {Distributional Pareto-Optimal Multi-Objective Reinforcement Learning},
  author = {Cai, Xin-Qiang and Zhang, Pushi and Zhao, Li and Bian, Jiang and Sugiyama, Masashi and Llorens, Ashley J.},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  volume = {36},
  pages = {15593--15613},
  year = {2023},
}

NeurIPS-W

IG-Net: Image-Goal Network for Offline Visual Navigation on A Large-Scale Game Map

Pushi Zhang^*, Baiting Zhu^*, Xin-Qiang Cai^*, Li Zhao, Masashi Sugiyama, and Jiang Bian

In NeurIPS 2023 Workshop on Robot Learning, 2023

PDF Video

@inproceedings{zhang2023ignet,
  title = {IG-Net: Image-Goal Network for Offline Visual Navigation on A Large-Scale Game Map},
  author = {Zhang, Pushi and Zhu, Baiting and Cai, Xin-Qiang and Zhao, Li and Sugiyama, Masashi and Bian, Jiang},
  booktitle = {NeurIPS 2023 Workshop on Robot Learning},
  year = {2023},
}

CoG

Preference-conditioned Pixel-based AI Agent For Game Testing

Sherif Abdelfattah, Adrian Brown, and Pushi Zhang

In IEEE Conference on Games (CoG), 2023

arXiv

@inproceedings{abdelfattah2023preference,
  title = {Preference-conditioned Pixel-based AI Agent For Game Testing},
  author = {Abdelfattah, Sherif and Brown, Adrian and Zhang, Pushi},
  booktitle = {IEEE Conference on Games (CoG)},
  pages = {1--8},
  year = {2023},
}

Preprint

Asking Before Acting: Gather Information in Embodied Decision Making with Language Models

Xiaoyu Chen, Shenao Zhang, Pushi Zhang, Li Zhao, and Jianyu Chen

Preprint, arXiv:2305.15695, 2023

arXiv

@article{chen2023asking,
  title = {Asking Before Acting: Gather Information in Embodied Decision Making with Language Models},
  author = {Chen, Xiaoyu and Zhang, Shenao and Zhang, Pushi and Zhao, Li and Chen, Jianyu},
  journal = {arXiv preprint arXiv:2305.15695},
  year = {2023},
}

2022

NeurIPS

An Adaptive Deep RL Method for Non-Stationary Environments with Piecewise Stable Context

Xiaoyu Chen^*, Xiangming Zhu^*, Yufeng Zheng, Pushi Zhang, et al. 等 Xiaoyu Chen^*, Xiangming Zhu^*, Yufeng Zheng, Pushi Zhang, Li Zhao, Wenxue Cheng, Peng Cheng, Yongqiang Xiong, Tao Qin, Jianyu Chen, and Tie-Yan Liu

In Advances in Neural Information Processing Systems (NeurIPS), 2022

arXiv Code

@inproceedings{chen2022adaptive,
  title = {An Adaptive Deep RL Method for Non-Stationary Environments with Piecewise Stable Context},
  author = {Chen, Xiaoyu and Zhu, Xiangming and Zheng, Yufeng and Zhang, Pushi and Zhao, Li and Cheng, Wenxue and Cheng, Peng and Xiong, Yongqiang and Qin, Tao and Chen, Jianyu and Liu, Tie-Yan},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  volume = {35},
  pages = {35449--35461},
  year = {2022},
}

2021

NeurIPS

Distributional Reinforcement Learning for Multi-Dimensional Reward Functions

Pushi Zhang^*, Xiaoyu Chen^*, Li Zhao, Wei Xiong, Tao Qin, and Tie-Yan Liu

In Advances in Neural Information Processing Systems (NeurIPS), 2021

arXiv PDF Code

@inproceedings{zhang2021distributional,
  title = {Distributional Reinforcement Learning for Multi-Dimensional Reward Functions},
  author = {Zhang, Pushi and Chen, Xiaoyu and Zhao, Li and Xiong, Wei and Qin, Tao and Liu, Tie-Yan},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  volume = {34},
  pages = {1519--1529},
  year = {2021},
}

IJCAI

Independence-aware Advantage Estimation

Pushi Zhang, Li Zhao, Guoqing Liu, Jiang Bian, Minlie Huang, Tao Qin, and Tie-Yan Liu

In Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI), 2021

PDF

@inproceedings{zhang2021independence,
  title = {Independence-aware Advantage Estimation},
  author = {Zhang, Pushi and Zhao, Li and Liu, Guoqing and Bian, Jiang and Huang, Minlie and Qin, Tao and Liu, Tie-Yan},
  booktitle = {Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI)},
  pages = {3349--3355},
  year = {2021},
}

Neurocomp.

Demonstration Actor Critic

Guoqing Liu, Li Zhao, Pushi Zhang, Jiang Bian, Tao Qin, Nenghai Yu, and Tie-Yan Liu

Neurocomputing, 2021

Paper

@article{liu2021demonstration,
  title = {Demonstration Actor Critic},
  author = {Liu, Guoqing and Zhao, Li and Zhang, Pushi and Bian, Jiang and Qin, Tao and Yu, Nenghai and Liu, Tie-Yan},
  journal = {Neurocomputing},
  volume = {434},
  pages = {194--202},
  year = {2021},
  publisher = {Elsevier},
  doi = {10.1016/j.neucom.2020.12.116},
}