Ziqiu ZENG
I am a Research Fellow at the Human-Centered Robotic Lab, National University of Singapore, where I work on Computer Graphics (Physics-Based Simulations), Robotic Learning & Control, and High-Performance Computing (HPC). I received my Ph.D. from the University of Strasbourg, where I was part of the INRIA Mimesis team, specializing in real-time physics simulation and numerical methods for dynamic systems.
Publications
Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact
Ziqiu Zeng, Siyuan Luo, Fan Shi, and Zhongkai Zhang
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2025)
Fast and Reliable Gradients for Deformables Across Frictional Contact Regimes
Ziqiu Zeng, Gang Yang, Zhenhao Huang, Bingyang Zhou, Yulin Li, Jason Pho, Siyuan Luo, and Fan Shi
arXiv preprint, 2026
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Siyuan Luo, Bingyang Zhou, Chong Zhang, Xin Liu, Zhenhao Huang, Gang Yang, Zhengtao Han, Xiaotian Hu, Eric Yang, Rymon Yu, Ziqiu Zeng, and Fan Shi
arXiv preprint, 2026
Real-Time FE simulation for Large-Scale Problems using Precondition-Based Contact Resolution and Isolated DOFs Constraints
Ziqiu Zeng, Stéphane Cotin, and Hadrien Courtecuisse
Computer Graphics Forum, 2022, 41 (6), pp.418-434.
Dynamic Cutting Simulation Using Elastic Snapping for Mesh Quality Optimization
Ziqiu Zeng and Hadrien Courtecuisse
Computer Graphics Forum, 2025.
Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling
Zhenhao Huang, Siyuan Luo, Bingyang Zhou, Ziqiu Zeng, Jason Pho, and Fan Shi
IEEE International Conference on Robotics and Automation (ICRA) 2026
Soft Responsive Materials Enhance Humanoid Safety
Chunzheng Wang, Yiyuan Zhang, Annan Tang, Ziqiu Zeng, Haoran Chen, Quan Gao, Zixuan Zhuang, Boyu Li, Zhilin Xiong, Aoqian Zhang, Ce Hao, Siyuan Luo, Tongyang Zhao, Cecilia Laschi, and Fan Shi
arXiv preprint, 2026
Fast and Stable Elastic Dynamics with Large-scale Contact Simulation
Ziqiu Zeng, Siyuan Luo, Eric Yang, and Fan Shi
ACM SIGGRAPH Asia 2025 Posters
SOFA++: A Real-Time GPU-based Surgical Robotics Simulator with Robust Frictional Contact.
Siyuan Luo, Ziqiu Zeng and Fan Shi
IEEE International Conference on Robotics and Automation (ICRA) 2025 Workshop
Grants & Research Funding
NVIDIA Academic Grant, 2025. Adaptive Fault-Tolerant Safe Locomotion with Differentiable Simulation.
Google Research Funding, 2025. Sim-to-Dex: Contact-Rich Graph Neural Models for Robotic Manipulation.
Swiss AI Initiative Small Grant, 2025. Learning Deformable Contact Dynamics for 4D Spatial Intelligence.
Invited Talks & Workshops
"Fast but Accurate: The Next-Generation Physics Engine for Soft Body Simulations?", ETH Zurich CRL Seminar, Zurich, April 2025
IEEE ICRA 2025 Workshop, May 2025
CoRL 2025 Workshop, September 2025
Posters
ACM SIGGRAPH Asia 2025, December 2025
NUS AI Research Day, July 2025
RAS TC Model-Based Optimization for Robotics, July 2025
Professional Service
Organizer, IEEE ICRA 2026 Workshop "Synthetic Data for Robot Learning"
Contact
Professional Email: zzeng@nus.edu.sg
Personal Email: zengziqiu1995@gmail.com