photo credit to: Liying Qiu

I am a second 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


09/2022: ToolFlowNet paper 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)

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 (coming soon) / 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 / Code (coming soon) / 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