Hi! I am Ziyu Wang (王梓昱), a senior undergraduate student at Institute for Interdisciplinary Information Sciences (IIIS), Tsinghua University (a.k.a Yao Class, , named after Prof. Andrew Chi-Chih Yao), advised by Prof. Huazhe Xu. I was also a research intern at RI, CMU and was fortunate to be advised by Prof. David Held and Prof. Zackory Erickson.

My research interests lie in the field of robot learning and reinforcement learning.

I am applying for Ph.D. programs starting from Fall 2025. If you are hiring or interested in my research, please feel free to contact me at wadiuvatzy2003[at]gmail[dot]com.

News

• 09/2024: DiffTORI is accepted to NeurIPS 2024 as a spotlight!

Publications

(* † ‡ indicates equal contribution/advising)

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation

Yufei Wang*, Ziyu Wang*, Mino Nakura†, Pratik Bhowal†, Chia-Liang Kuo†, Yi-Ting Chen, Zackory Erickson‡, David Held‡

[Website] [paper]

Real-World Offline Reinforcement Learning from Vision Language Model Feedback

Sreyas Venkataraman*, Yufei Wang*, Ziyu Wang, Zackory Erickson†, David Held†

LangRob Workshop 2024 @ CoRL

[Website] [paper]

DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning

Weikang Wan*, Ziyu Wang*, Yufei Wang*, Zackory Erickson, David Held

NeurIPS 2024 (Splotlight)

[paper]

3D Visual Task and Motion Planning

Angela Rodriguez-Izquierdo, Ziyu Wang, Jiahe Xu, Lifan Yu, Ben Eisner, Max Likhachev, David Held

[Website] [paper]

Generalizable Visual Reinforcement Learning with Segment Anything Model

Ziyu Wang*, Yanjie Ze*, Yifei Sun, Zhecheng Yuan, Huazhe Xu

[Website] [code] [paper]

Honors and Awards

• 2024 Comprehensive Excellence Scholarship
• 2023 School-level Scholarships
• 2022 Comprehensive Excellence Scholarship
• 2020 First Prize, Chinese Physics Olympiad

Educations

2021 - now, Institute for Interdisciplinary Information Sciences, Tsinghua University.

Internships

02/2024 - 08/2024, RPAD and RCHI, CMU

Miscellaneous

I am passionate about sports, with a particular love for hiking, basketball, and badminton. In my free time, I also enjoy playing video games, including Counter-Strike and League of Legends.

Additionally, if you’re a fan of the game Celeste (video game), you might enjoy this, a 3D version of the game I created as part of my computer graphics course project.