Yixuan Wang

Yixuan Wang 汪怡暄

I am a Ph.D. student in Columbia University Computer Science Department and a Research Scientist in NVIDIA Seattle Robotics Lab. Before entering Columbia, I studied in University of Illinois at Urbana-Champaign Ph.D. program and earned B.S. from University of Michigan and Shanghai Jiao Tong University.

I am working on the robotic manipulation under the supervision of Prof. Yunzhu Li. I was also lucky to work under the supervision of Prof. Katie Driggs-Campbell, Dr. Dale McConachie, Prof. Dmitry Berenson, and Prof. Audrey Sedal.

yixuan [at] cs [dot] columbia [dot] edu / GitHub / LinkedIn / X / GScholar

News

[Mar. 2026] Gave a talk at UW RSE Lab!
[Jan. 2026] Joined NVIDIA Seattle Robotics Lab!
[Aug. 2025] Gave a talk at UPenn Vijay Kumar Lab!
[Aug. 2025] Gave a talk at Shanghai Jiao Tong University!
[Aug. 2025] Gave a talk at Meta FAIR!
[May. 2025] Started my internship at Meta FAIR!
[Apr. 2025] One paper accepted to RSS 2025!
[Apr. 2025] Selected as one of Qualcomm Fellowship Finalist!
[Mar. 2025] Gave a talk at Kuaishou Tech!
[Nov. 2024] Gave a talk at UMich SLED Lab [link]!
[Sept. 2024] Transfer from UIUC to Columbia University!
[Sept. 2024] Three papers accepted to CoRL 2024!
[Apr. 2024] One paper accepted to RSS 2024!
[Feb. 2024] One paper accepted to ICRA 2024!
[Feb. 2024] Started my internship at Boston Dynamics AI Institute.
[Sept. 2023] One paper accepted to CoRL 2023!
[Apr. 2023] One paper accepted to RSS 2023!
[May 2022] Started my internship at Everyday Robots!

Research

I'm interested in robotics, perception, manipulation and robot learning. Here are lists of research projects I have done.

	Interactive World Simulator for Robot Policy Training and Evaluation Yixuan Wang, Rhythm Syed, Fangyu Wu, Mengchao Zhang, Aykut Onol, Jose Barreiros, Hooshang Nayyeri, Tony Dear, Huan Zhang, Yunzhu Li arXiv, 2026 15 Hz action-conditioned video prediction for 10+ minutes on a single RTX 4090 GPU website / paper / video / code / TL;DR
	CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph Yixuan Wang, Leonor Fermoselle, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li IEEE RA-L, 2026 Best Embodied AI Poster at Michigan AI Symposium 2025 website / paper / video
	CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin, Yitong Li, Yixuan Wang, Dale McConachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li RSS*, 2025 website / paper / code / bibTex
	GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li CoRL, 2024 website / paper / code / bibTex
	3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li CoRL, 2024 website / video / hardware guide / paper / bibTex
	D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li CoRL, 2024 Oral Presentation* website / paper / code / bibTex
	Open X-Embodiment: Robotic Learning Datasets and RT-X Models Open X-Embodiment Collaboration ICRA, 2024 Best Conference Paper Award project / paper / blogpost / code / data / bibTex
	RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing Bo Ai, Stephen Tian, Haochen Shi, Yixuan Wang, Cheston Tan, Yunzhu Li, Jiajun Wu RSS, 2024 website / paper / bibTex
	Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks Haonan Chen, Yilong Niu, Kaiwen Hong, Shuijing Liu, Yixuan Wang, Yunzhu Li, and Katherine Driggs-Campbell CoRL, 2023 Finalist - Best Paper/Best Student Paper Awards (Top 1%) project & video / paper / code / bibTex
	Dynamic-Resolution Model Learning for Object Pile Manipulation Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-Fei, Jiajun Wu RSS, 2023 Best Paper Award at IROS 2023 Workshop on Learning Meets Model-based Methods for Manipulation and Grasping [Link] website / paper / code / bibTex
	Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints Yixuan Wang, Dale McConachie, Dmitry Berenson ICRA, 2021 paper / video / code / talk

Tools

During my spare time, I enjoy building some small tools for research and daily life. Here are some of them.

OpenAI TTS: A GUI to convert text to speech using OpenAI API

PyTorch MPC: A modular library for MPC implementation using PyTorch

Video Compressor: A script wrapping around ffmpeg to convert video and compress video to a target file size. It is handy and can keep video as clear as possible when submitting video material to conference.

Teaching & Service

Conference Reviewer: ICRA, IROS, AAAI, CVPR, CoRL, RSS

Journal Reviewer: Autonomous Robots, Robotics and Automation Letters

Teaching Assistant: Robot Learning @ Columbia. Robot Learning, Senior Design Lab, Random Process @ UIUC. Honor Physics I, Honor Calculus II @ SJTU

Honor and Awards

Qualcomm Fellowship Finalist, 05/2025.

Harriett & Robert Perry Fellowship, 04/2023.

Silver Medal for Capstone Design, 08/2021.

Shanghai Excellent Gradudate (Top 5%), 08/2021.

University Honors, 09/2019, 04/2020.

Dean's List, 12/2019.

Jackson and Muriel Lum Scholarship, 09/2019.

SJTU Undergraduate Excellent Scholarship (Top 10%), 08/2018, 08/2019.

Bronze Medal in University Physics Competition, 01/2019.

The John Wu & Jane Sun Sunshine Scholarship, 09/2018.

SJTU Outstanding Student, 09/2018.

The Yu Liming Scholarship, 12/2017.

Misc.

I learned Go when I was a kid, and I earned Go 3 dan (amateur).

I am a super fan of Cantonese pop songs and would like to learn speaking Cantonese.

Updated at October 2023. Thanks Jon Barron for this amazing template.