photo credit to: Liying Qiu

I am a third year Phd student at Robotics Institute, Carnegie Mellon University. I am fortunate to be co-advised by Prof. Zackory Erickson and Prof. David Held.

I received my M.S. in Computer Science from Computer Science Department, Carnegie Mellon University in Dec, 2020, advised by Prof. David Held. Before coming to CMU, I received my B.S. in Data Science from Yuanpei College, Peking University in July 2019, advised by Prof. Bin Dong.

My general research interest is robot learning. My graduate study is supported by the Uber Presidential Fellowship.

Google Scholar | Github | Twitter


05/2024: RoboGen and RLVLMF are accepted to ICML 2024.
02/2024: Force Constrained Visual Policy is accepted to RA-L 2024.
08/2023: Did a wonderful summer intern at MIT-IBM Watson AI Lab, Hosted by Dr. Chuang Gan
04/2023: One Policy to Dress Them All is accepted to RSS 2023
09/2022: ToolFlowNet is accepted to CoRL 2022
07/2022: Visual Haptic Reasoning paper accepted to RA-L with presentation at IROS 2022!
01/2022: VCD code released
09/2021: Started PhD at Robotics Institute, CMU
09/2021: Two papers accepted at CoRL 2021


(*† indicates equal contribution/advising)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Yufei Wang*, Zhou Xian*, Feng Chen*, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, Chuang Gan
ICML 2024
Paper / Project Page / Code / Abstract / Bibtex

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback
Yufei Wang*, Zhanyi Sun*, Jesse Zhang, Zhou Xian, Erdem Bıyık, David Held†, Zackory Erickson†
ICML 2024
Paper / Project Page / Abstract / Bibtex

DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning
Weikang Wan*, Yufei Wang*, Zackory Erickson, David Held
arXiv 2024
Paper / Abstract / Bibtex

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing
Zhanyi Sun*, Yufei Wang*, David Held†, Zackory Erickson†
Robotics and Automation Letters (RA-L) 2024
Paper / Project Page / Abstract / Bibtex

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments
Yufei Wang, Zhanyi Sun, Zackory Erickson*, David Held*
RSS 2023
Paper / Project Page / CMU News / Abstract / Bibtex

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic
ICRA 2023
Paper / Abstract / Bibtex

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds
Daniel Seita, Yufei Wang†, Sarthak J Shetty†, Edward Yao Li†, Zackory Erickson, David Held
CoRL 2022
Paper / Project Page / Code / Abstract / Bibtex

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions
Yufei Wang, David Held, Zackory Erickson
Robotics and Automation Letters (RA-L) with presentation at IROS 2022
Paper / Project Page / Abstract / Bibtex

Learning Visible Connectivity Dynamics for Cloth Smoothing
Xingyu Lin*, Yufei Wang*, Zixuan Huang, David Held (*order by dice)
CoRL 2021
Paper / Project Page / Code / Abstract / Bibtex

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy
Thomas Weng, Sujay Bajracharya, Yufei Wang, David Held
CoRL 2021
Paper / Project Page / Abstract / Bibtex

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang*, Gautham Narayan*, Xingyu Lin, Brian Okorn, David Held
CoRL 2020
Paper / Project Page / Code / Abstract / Bibtex

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
Xingyu Lin, Yufei Wang, Jake Olkin, David Held
CoRL 2020
Paper / Project Page / Code / Abstract / Bibtex

f-IRL: Inverse Reinforcement Learning via State Marginal Matching
Tianwei Ni*, Harshit Sikchi*, Yufei Wang*, Tejus Gupta*, Lisa Lee†, Ben Eysenbach† (*order by dice, † equal advising)
CoRL 2020
Abridged in RSS 2020, Workshop on Structured Approaches to Robot Learning for Improved Generalization
Paper / Projec Page / Code / Abstract / Bibtex

Meta-SAC: Auto-tune the Entropy Temperature of Soft Actor-Critic via Metagradient
Yufei Wang*, Tianwei Ni*
ICML 2020, Workshop on Automated Machine Learning [Link]
Paper / Video / Code / Abstract

Beyond Exponentially Discounted Sum: Automatic Learning of Return Function
Yufei Wang*, Qiwei Ye*, Tie-Yan Liu
NeurIPS 2020 Deep RL workshop
Paper / Abstract

Learning to Discretize: Solving 1D Scalar Conservation Laws via Deep Reinforcement Learning
Yufei Wang*, Ziju Shen*, Zichao Long, Bin Dong
Communications in Computational Physics 2020
Paper / Code / Abstract

Deep Reinforcement Learning for Green Security Games with Real-Time Information
Yufei Wang, Zheyuan Ryan Shi, Lantao Yu, Yi Wu, Rohit Singh, Lucas Joppa, Fei Fang
AAAI 2019
Paper / Slides / Abstract / Bibtex