Weiliang Deng   邓伟亮

I am a First-year Master student in The School of Intelligent Systems Engineering at Sun Yat-sen University. Now I am a member of Hardware and Intelligence (HI) Lab and working on Aerial Robots with Assoc. Prof. Ximin Lyu. Previously, I worked as a Research Assistant at Shanghai AI Laboratory, where I conducted research in Embodied AI under the supervision of Yao Mu in the ScaleLab. I obtained my bachelor's degree at Sun Yat-sen University in 2025.

My research interests lie at Aerial Robotics and Manipulation.

dengwl.2021 [at] gmail [dot] com

GitHub (Dwl2021)
Google Scholar

News

Publications

Whole-Body Motion Planning
Whole-Body Integrated Motion Planning for Aerial Manipulators
Weiliang Deng*, Hongming Chen*, Biyu Ye, Haoran Chen, Ziliang Li and Ximin Lyu
IEEE Transactions on Robotics (T-RO), 2025 [New!]
📄 arXiv 🌐 Project 🎥 Video 💻 Code
A Novel Whole-body Motion Planner Framework for Aerial Manipulators
RoboTwin2.0
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
Tianxing Chen*, Zanxin Chen*, Baijun Chen*, Zijian Cai*, Yibin Liu*, Zixuan Li*, Qiwei Liang, Xianliang Lin, Yiheng Ge, Zhenyu Gu, Weiliang Deng, Yubin Guo, Tian Nian, ..., Ping Luo✉, Yao Mu✉
Under review
📄 arXiv 🌐 Project 💻 Code
A comprehensive benchmark for dual-arm robot learning with generative digital twins
Aerial Grasping
Aerial Grasping via Maximizing Delta-Arm Workspace Utilization
Hongran Chen*, Weiliang Deng*, Biyu Ye, Yifan Xiong, Zongliang Pan and Ximin Lyu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
📄 arXiv 🎥 Demo
We present a trajectory planner for aerial grasping that maximizes workspace use by learning the delta arm's feasibility and kinematics.
NDOB-Based Control
NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
Hongming Chen, Biyu Ye, Xianqi Liang, Weiliang Deng, and Ximin Lyu
IEEE International Conference on Robotics and Automation (ICRA), 2025
📄 arXiv 🎥 Demo
Proposed an NDOB-based controller for UAV with delta-arm, enhancing agility and achieving millimeter-level precision through disturbance compensation and high-pass filtering.

Experiences

Shanghai AI Laboratory
Research Intern • March 2025 - Sept 2025
  • 🤖 Embodied AI @ Manipulation
  • 🔬 Research on intelligent robotic systems and manipulation algorithms
Sun Yat-sen University
B.E. in Intelligence Science and Technology • Sep 2021 - Jul 2025
  • 🏆 2021 & 2022 & 2023 Sun Yat-sen University Scholarship
  • 📍 Shenzhen, China

© Weiliang Deng 2025