Zhenyu Wei  |  卫振宇

I am a first-year CS Ph.D. student at University of North Carolina at Chapel Hill, advised by Prof. Mingyu Ding. I received my Bachelor's degree in Computer Science at at Shanghai Jiao Tong University. During my undergraduate years, I was fortunate to be advised by Prof. Lin Shao at National University of Singapore and Prof. Cewu Lu at Shanghai Jiao Tong University.

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News

Research

My research interests lie in 🤖dexterous manipulation. My long-term goal is to make robots an essential part of daily life, reshaping how we live. I'm open to collaborations on robotics related projects, feel free to contact me!🤟

Papers sorted by recency. Representative papers are highlighted.

Mixture of Horizons in Action Chunking
Dong Jing, Gang Wang, Jiaqi Liu, Weiliang Tang, Zelong Sun, Yunchao Yao, Zhenyu Wei, Yunhui Liu, Zhiwu Lu, Mingyu Ding
Website  /  arXiv  /  Code
TL;DR: We propose Mixture of Horizons (MoH), a plug-and-play strategy that fuses multiple horizons within a single policy to inherit the strengths of both with minimal training or inference overhead. MoH enables Dynamic Inference, selecting stable actions through cross-horizon consensus for higher efficiency and robustness.
RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
Kun Lei*, Huanyu Li*, Dongjie Yu*, Zhenyu Wei*, Lingxiao Guo, Zhennan Jiang, Ziyu Wang, Shiyu Liang, Huazhe Xu
Website  /  arXiv
TL;DR: RL‑100 introduces a three-stage real-world learning pipeline combining imitation learning, offline RL, and online RL, leveraging learned visuomotor policies to achieve 100% task success across seven diverse manipulation tasks, while enabling strong zero- and few-shot generalization to new dynamics and perturbations.
TelePreview: A User-Friendly Teleoperation System with Virtual Arm Assistance for Enhanced Effectiveness
Jingxiang Guo*, Jiayu Luo*, Zhenyu Wei*, Yiwen Hou, Zhixuan Xu, Xiaoyi Lin, Chongkai Gao, Lin Shao
Website  /  arXiv
TL;DR: Implement a low-cost teleoperation system utilizing data gloves and IMU sensors, paired with an assistant module that improves data collection process by visualizing future robot operations through visual previews.
MetaFold: Language-Guided Multi-Category Garment Folding Framework via Trajectory Generation and Foundation Model
Haonan Chen*, Junxiao Li*, Ruihai Wu, Yiwei Liu, Yiwen Hou, Zhixuan Xu, Jingxiang Guo, Chongkai Gao, Zhenyu Wei, Shensi Xu, Jiaqi Huang, Lin Shao
Website  /  arXiv
IROS 2025  International Conference on Intelligent Robots and Systems
Oral Presentation
TL;DR: MetaFold employs language-guided point cloud trajectories for task planning and a foundation model for action prediction, enabling better generalization across garments and instructions.
$\mathcal{D(R,O)}$ Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping
Zhenyu Wei*, Zhixuan Xu*, Jingxiang Guo, Yiwen Hou, Chongkai Gao, Zhehao Cai, Jiayu Luo, Lin Shao
Website  /  arXiv  /  Code  /  Media (机器之心)
ICRA 2025  International Conference on Robotics and Automation
ICRA 2025 Best Paper Award on Robot Manipulation and Locomotion
Best Robotics Paper Award, CoRL 2024 @ MAPoDeL
TL;DR: Introduce $\mathcal{D(R,O)}$, a novel interaction-centric representation for dexterous grasping tasks that goes beyond traditional robot-centric and object-centric approaches, enabling robust generalization across diverse robotic hands and objects.
Auto-Pairing Positives through Implicit Relation Circulation for Discriminative Self-Learning
Bo Pang, Zhenyu Wei, Jingli Lin, Cewu Lu
IEEE Xplore  /  Code
TPAMI 2025  IEEE Transactions on Pattern Analysis and Machine Intelligence
TL;DR: Introduce Implicit Relation Circulation (IRC), a self-supervised learning framework that discovers positive pairs automatically by performing random walks across feature groups and enforcing cycle consistency with a simpler task, without requiring explicit matching.

Selected Honors

  • ICRA 2025 Best Paper Award on Robot Manipulation and Locomotion 2025
  • Best Paper Award, ICRA 2025 @ Human-Centric Multilateral Teleoperation Workshop 2025
  • Zhiyuan Outstanding Scholarship (Top 30 Undergraduates at SJTU) 2025
  • Shanghai Outstanding Graduate (Top 5% of Graduates at SJTU) 2025
  • Best Robotics Paper Award, CoRL 2024 @ MAPoDeL Workshop 2024
  • Outstanding Scholarship of Computer Science Alumni Fund (Top 5% in Major) 2024
  • Huawei Scholarship (Top 5% in Major) 2023
  • The Tung Foundation Scholarship (Top 5% in Major) 2022
  • Zhiyuan Honors Scholarship (Top 10% Students at SJTU) 2021 - 2024

Experience

University of North Carolina at Chapel Hill, USA 2025.08 - Present

Ph.D. in Computer Science
Research Advisor: Prof. Mingyu Ding

Shanghai Qi Zhi Institute, China 2025.02 - 2025.07

Research Intern
Research Advisor: Prof. Huazhe Xu

NUS LinS Lab, Singapore 2024.06 - 2025.02

Research Assistant
Research Advisor: Prof. Lin Shao

SJTU Machine Vision and Intelligence Group (MVIG), China 2022.10 - 2024.05

Research Intern
Research Advisor: Prof. Cewu Lu

Shanghai Jiao Tong University, China 2021.09 - 2025.06

B.Eng. in Computer Science (Zhiyuan Honor Degree)
GPA: 4.0/4.3

Thank you for visiting 😊 Feel free to contact me if you have any questions.
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