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Fei Ni

Fei Ni

MSCA Postdoctoral Fellow [] Imperial College London
f.ni@imperial.ac.uk Google Scholar

I am a Marie Skodowska-Curie Actions (MSCA) Postdoctoral Fellow and Research Associate at Imperial College London, working with Prof. Stefanos Zafeiriou and Prof. Jiankang Deng, supported by the European Union's Horizon Europe programme. Before that, I obtained my Ph.D. from Tianjin University under the supervision of Prof. Jianye Hao, and my Master's and Bachelor's degrees from Huazhong University of Science and Technology, supervised by Prof. Kun He.

My research lies at the intersection of Embodied Intelligence, Multimodal Large Models, and Reinforcement Learning. I am especially interested in vision-language-action models, long-horizon robotic manipulation, generalist embodied agents, diffusion-based decision making, and benchmarks & evaluation for embodied AI with the broader goal of bridging large language models with robotic control to develop generalizable approaches for embodied intelligence in the real world.

I am always happy to discuss research and explore potential collaborations feel free to reach out via email.

Fei Ni [Fei Ni]

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Selected PublicationsGoogle Scholar

* denotes equal contribution.

SemanticVLA [SemanticVLA]
SemanticVLA: Towards Semantic Reasoning over Action Memorization via Synergistic Explicit Trace and Latent Action Planning
Fei Ni, Zhuo Chen, Yifu Yuan, Zibin Dong, Xianze Yao, Shan Luo, Jianye Hao, Jiankang Deng, Stefanos Zafeiriou.
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026.
PDF Code Models Dataset
Embodied-R1 [Embodied-R1]
Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation
Yifu Yuan, Haiqin Cui, Yaoting Huang, Yibin Chen, Fei Ni, Zibin Dong, Pengyi Li, Yan Zheng, Hongyao Tang, Jianye Hao.
International Conference on Learning Representations (ICLR), 2026.
arXiv Project Code Model
RoboAnnotatorX [RoboAnnotatorX]
RoboAnnotatorX: A Comprehensive and Universal Annotation Framework for Accurate Understanding of Long-horizon Robot Demonstration
Longxin Kou*, Fei Ni*, Jianye Hao, Peilong Han, Jinyi Liu, Haiqin Cui, Rui Liu, Yan Zheng.
IEEE/CVF International Conference on Computer Vision (ICCV), 2025.
arXiv Project Code Model Dataset
Embodied Arena [Embodied Arena]
Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI
Fei Ni, Min Zhang, Pengyi Li, Yifu Yuan, Lingfeng Zhang, Yuecheng Liu, Peilong Han, Longxin Kou, Shaojin Ma, et al., Jiankang Deng, Shan Luo, Shuqiang Jiang, Wei Pan, Yang Gao, Stefanos Zafeiriou, Jan Peters, Yuzheng Zhuang, Yingxue Zhang, Yan Zheng, Hongyao Tang, Jianye Hao.
arXiv preprint arXiv:2509.15273, 2025.
arXiv Project Code
PERIA [PERIA]
PERIA: Perceive, Reason, Imagine, Act via Holistic Language and Vision Planning for Manipulation
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Yifu Yuan, Zibin Dong, Jinyi Liu, MingZhi Li, Yuzheng Zhuang, Yan Zheng.
Conference on Neural Information Processing Systems (NeurIPS), 2024.
PDF OpenReview Project
KISA [KISA]
KISA: A Unified Keyframe Identifier and Skill Annotator for Long-Horizon Robotics Demonstrations
Longxin Kou*, Fei Ni*, Yan Zheng, Jinyi Liu, Yifu Yuan, Zibin Dong, Jianye Hao.
International Conference on Machine Learning (ICML), 2024.
PDF Project Code
CoT-Diffusion [CoT-Diffusion]
Generate Subgoal Images before Act: Unlocking the Chain-of-Thought Reasoning in Diffusion Model for Robot Manipulation with Multimodal Prompts
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Jiashun Liu, Yan Zheng, Bin Wang, Yuzheng Zhuang.
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
PDF CVF
AdaptDiffuser [AdaptDiffuser]
AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners
Zhixuan Liang, Yao Mu, Mingyu Ding, Fei Ni, Masayoshi Tomizuka, Ping Luo.
International Conference on Machine Learning (ICML), 2023. Oral
arXiv Project
MetaDiffuser [MetaDiffuser]
MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL
Fei Ni, Jianye Hao, Yao Mu, Yifu Yuan, Yan Zheng, Bin Wang, Zhixuan Liang.
International Conference on Machine Learning (ICML), 2023.
PDF arXiv Project
KDD'21 [KDD'21]
A Multi-Graph Attributed Reinforcement Learning based Optimization Algorithm for Large-scale Hybrid Flow Shop Scheduling Problem
Fei Ni, Jianye Hao, Jiawen Lu, Xialiang Tong, Mingxuan Yuan, Jiahui Duan, Yi Ma, Kun He.
ACM SIGKDD Conference on Knowledge Discovery & Data Mining (KDD), 2021.
Paper

Publications

2026
From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation
Yifu Yuan, Haiqin Cui, Yibin Chen, Zibin Dong, Fei Ni, Longxin Kou, Jinyi Liu, Pengyi Li, Yan Zheng, Jianye Hao.
International Conference on Learning Representations (ICLR), 2026.
arXiv
CellAgent: An LLM-Driven Multi-Agent Framework for Natural Language-Based Single-Cell Analysis
Yihang Xiao, Jinyi Liu, Yan Zheng, Shaoqing Jiao, Jianye Hao, Xiaohan Xie, Mingzhi Li, Ruitao Wang, Fei Ni, Yuxiao Li, Zhen Wang, Xuequn Shang, Zhijie Bao, Changxiao Yang, Jiajie Peng.
International Conference on Learning Representations (ICLR), 2026.
arXiv
AFE-Master: Enhancing LLM-Driven Autonomous Feature Engineering with Domain-Specific Language Parsing and Guided Local Search
Hebin Liang, Jianye Hao, Jinyi Liu, Yi Ma, Zilin Cao, Jing Liang, Kun Shao, Zhaocheng Du, Fei Ni, et al.
ACM Web Conference (WWW), 2026.
2025
Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI
Fei Ni, Min Zhang, Pengyi Li, Yifu Yuan, et al. (37 authors).
Embodied Arena Benchmark Technical Report, 2025.
arXiv Project Code
RADAR: Robust Anomaly Detection And Recovery for Robot Manipulation
Fei Ni, Rui Liu, Longxin Kou, Jianye Hao.
ICCV 2025 MMFM Workshop.
DualRAG: A Dual-Process Approach to Integrate Reasoning and Retrieval for Multi-Hop Question Answering
Rong Cheng, Jinyi Liu, Yan Zheng, Fei Ni, Jiazhen Du, Hangyu Mao, Fuzheng Zhang, Bo Wang, Jianye Hao.
Annual Meeting of the Association for Computational Linguistics (ACL), 2025.
Paper arXiv
SheetAgent: Towards a Generalist Agent for Spreadsheet Reasoning and Manipulation via Large Language Models
Yibin Chen, Yifu Yuan, Zeyu Zhang, Yan Zheng, Jinyi Liu, Fei Ni, Jianye Hao, Hangyu Mao, Fuzheng Zhang.
ACM Web Conference (WWW), 2025. Oral
arXiv
SWAMamba: A Sliding Window Attention Mamba Framework for Predicting Translation Elongation Rates
Xi Zeng, Fei Ni, Shaoqing Jiao, Dazhi Lu, Jianye Hao, Jiajie Peng.
AAAI Conference on Artificial Intelligence (AAAI), 2025.
2024
AlignDiff: Aligning Diverse Human Preferences Via Behavior-Customisable Diffusion Model
Zibin Dong, Yifu Yuan, Jianye Hao, Fei Ni, Yao Mu, Yan Zheng, Yujing Hu, Tangjie Lv, Changjie Fan, Zhipeng Hu.
International Conference on Learning Representations (ICLR), 2024.
arXiv
CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making
Zibin Dong, Yifu Yuan, Jianye Hao, Fei Ni, Yi Ma, Pengyi Li, Yan Zheng.
Conference on Neural Information Processing Systems (NeurIPS) Datasets & Benchmarks Track, 2024.
arXiv
DiffuserLite: Towards Real-time Diffusion Planning
Zibin Dong, Jianye Hao, Yifu Yuan, Fei Ni, Yitian Wang, Pengyi Li, Yan Zheng.
Conference on Neural Information Processing Systems (NeurIPS), 2024.
arXiv
2023
EUCLID: Towards Efficient Unsupervised Reinforcement Learning with Multi-choice Dynamics Model
Yifu Yuan, Jianye Hao, Fei Ni, Yao Mu, Yan Zheng, Yujing Hu, Jinyi Liu, Yingfeng Chen, Changjie Fan.
International Conference on Learning Representations (ICLR), 2023.
arXiv Project
2022
DOMINO: Decomposed Mutual Information Optimization for Generalized Context in Meta-Reinforcement Learning
Yao Mu, Yuzheng Zhuang, Fei Ni, Bin Wang, Jianyu Chen, Jianye Hao, Ping Luo.
Advances in Neural Information Processing Systems (NeurIPS), 2022.
arXiv Project
SplitNet: A Reinforcement Learning based Sequence Splitting Method for the MinMax Multiple Travelling Salesman Problem
Hebin Liang, Yi Ma, Zilin Cao, Tianyang Liu, Fei Ni, Zhigang Li, Jianye Hao.
AAAI Conference on Artificial Intelligence (AAAI), 2022.
Talk
2021
Adaptive Simulated Annealing with Greedy Search for the Circle Bin Packing Problem
Kun He, Kevin Tole, Fei Ni, Yong Yuan, Linyun Liao.  (corresponding author)
Computers & Operations Research (COR), 2021.
Paper arXiv
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Preprints

UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
Zhuo Chen, Fei Ni, Kaiyao Luo, Zhiyuan Wu, Xuyang Zhang, et al.
arXiv preprint, 2026.
ActionCodec: What Makes for Good Action Tokenizers
Zibin Dong, Yicheng Liu, Shiduo Zhang, Baijun Ye, Yifu Yuan, Fei Ni, et al.
arXiv preprint, 2026.
EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation
Zibin Dong, Fei Ni, Yifu Yuan, Yinchuan Li, Jianye Hao.
arXiv preprint arXiv:2505.10105, 2025.
arXiv

Education & Profession

Honors & Awards

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Invited Talks

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Academic Service

Conference Reviewer: CVPR, ICML, NeurIPS, ICLR, AAAI, AISTATS, AAMAS, ICCV.

Journal Reviewer: TPAMI, IEEE T-RO, Pattern Recognition, IEEE TNNLS, KBS, IEEE TCYB, JAAMAS.

© Fei Ni Last updated: June 2026 source
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