Wenye Yu

Hi there! I am a first-year Ph.D. student at Machine Vision and Intelligence Group (MVIG), Shanghai Jiao Tong University, advised by Prof.Cewu Lu. I received my Bachelor's degree from the first session of Guozhi Class (held by Prof.Xiaoou Tang), Shanghai Jiao Tong University. Previously, I worked as a research intern at InternRobotics, supervised by Dr.Jiangmiao Pang.

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News

  • [2025.04] 🎉 One paper (Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation) is accepted by RSS 2025!
  • [2024.09] 🎉 One paper (Learning H-Infinity Locomotion Control) is accepted by CoRL 2024!
  • [2023.08] Joined InternRobotics
  • [2023.02] Joined Machine Vision and Intelligence Group (MVIG)

Research

My research interest lies in Robotics and Embodied AI, with a particular interest in human-in-the-loop learning and generalizable robotic manipulation. Representative works are highlighted.

PontTuset Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Sizhe Yang*, Wenye Yu*, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang†
Robotics: Science and Systems (RSS), 2025
project page / paper / code

RoboSplat is framework that leverages 3D Gaussian Splatting (3DGS) to generate novel demonstrations for RGB-based policy learning in a one-shot manner, enabling robust performance across six types of visual generalization in the real world.
PontTuset SIME: Enhancing Policy Self-Improvement with Modal-level Exploration
Yang Jin*, Jun Lv*, Wenye Yu, Hongjie Fang, Yong-Lu Li, Cewu Lu†
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
project page / paper / code

With modal-level exploration, the robot can generate more diverse and multi-modal interaction data. By learning from the most valuable trials and high-quality segments from these interactions, the robot can effectively refine its capabilities through self-improvement.
PontTuset Learning H-Infinity Locomotion Control
Junfeng Long*, Wenye Yu*, Quanyi Li*, Zirui Wang, Dahua Lin, Jiangmiao Pang†
Conference on Robot Learning (CoRL), 2024   Best Poster Award at CoRL 2024 LocoLearn Workshop
project page / paper

We propose H-Infinity Locomotion Control, an adversarial framework for quadrupedal robots which enhances their robustness against external forces with a performance guarantee.
PontTuset GRUtopia: Dream General Robots in a City at Scale
Hanqing Wang*, Jiahe Chen*, Wensi Huang*, Qingwei Ben*, Tai Wang*, Boyu Mi*, Tao Huang, Siheng Zhao, Yilun Chen, Sizhe Yang, Peizhou Cao, Wenye Yu, Zichao Ye, Jialun Li, Junfeng Long, Zirui Wang, Huiling Wang, Ying Zhao, Zhongying Tu, Yu Qiao, Dahua Lin, Jiangmiao Pang†
arXiv, 2024
project page / paper / code

We proposed GRUtopia, the first simulated interactive 3D society designed for various robots. It features (a)GRScenes, a dataset with 100k interactive and finely annotated scenes. (b) GRResidents, a LLM driven NPC system. (c) GRBench, a benchmark posing moderately challenging tasks.

Honors and Awards

  • [2024.06] SenseTime Scholarship (25 undergraduates per year in China)
  • [2023.09] National Scholarship
  • [2022.09] National Scholarship (Highest Honour for undergraduates in China)

Miscellanea

During off time, I am a music enthusiast, fond of a wide range of genres including Hip-Hop, R&B, Rock, Pop, and Electronic. I'm also broadly interested in sports, among which basketball, tennis, and Formula 1 are my favourites. Besides, I am also a fan of travelling and cinematography.


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