Ying Yuan

Email: yingyua2@andrew.cmu.edu
[Google Scholar] [GitHub] [CV] [Twitter]
I am a first-year PhD student at CMU Robotics Institute, advised by Prof. David Held. I am broadly interested in robot learning, especially RL, imitation learning and their application in robotics. My goal is to develop algorithms for real-world challenges, such as robust and generalizable robot manipulation.
Previously, I obtained Bachelor of Engineering in Computer Science and Technology from Yao Class at Tsinghua University. I spent my junior year as a research intern at UC San Diego advised by Prof. Xiaolong Wang. I also worked with Prof. Yi Wu at IIIS, Tsinghua University.

News

  • Aug 2025: HAVE got accepted by CoRL 2025.
  • Jun 2025: iDP3 got accepted by IROS 2025.
  • Sep 2024: Our paper on learning to spin "pens" got accepted by CoRL 2024!
  • Jun 2024: One paper got accepted by IROS 2024!
  • Jun 2024: I graduated from Tsinghua University as an honored graduate.
  • May 2024: I presented Robot Synesthesia at ICRA 2024.
  • Jan 2024: One paper got accepted by ICRA 2024! See you in Japan!
  • Sep 2023: I received Yao Award (Recognition Prize) from IIIS, Tsinghua University.
  • Papers (*indicates equal technical contribution)

    Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
    Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner, David Held
    Conference on Robot Learning (CoRL), 2025
    [Website]
    Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies
    Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, Jiajun Wu
    International Conference on Intelligent Robots and Systems (IROS), 2025 (Oral)
    [Paper] [Code (learning)] [Code (teleop)] [Website] [Summary]
    Robot Generating Data for Learning Generalizable Visual Robotic Manipulation
    Yunfei Li*, Ying Yuan*, Jingzhi Cui, Haoran Huan, Wei Fu, Jiaxuan Gao, Zekai Xu, Yi Wu
    International Conference on Intelligent Robots and Systems (IROS), 2024
    [Paper] [Website]
    Lessons from Learning to Spin “Pens”
    Jun Wang*, Ying Yuan*, Haichuan Che*, Haozhi Qi*, Yi Ma, Jitendra Malik, Xiaolong Wang
    Conference on Robot Learning (CoRL), 2024
    [Paper] [Code] [Website] [Summary]
    Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
    Ying Yuan*, Haichuan Che*, Yuzhe Qin*, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, Xiaolong Wang
    International Conference on Robotics and Automation (ICRA), 2024
    NeurIPS Workshop on Touch Processing, 2023
    [Paper] [Code] [Website] [Summary]
    Self-Generating Data for Goal-Conditioned Compositional Problems
    Ying Yuan, Yunfei Li, Yi Wu
    ICLR Reincarnating RL Workshop, 2023
    [Paper]

    Honors and Awards

  • Honored Graduate of Yao Class, 2024
  • Yao Award (Recognition Prize), 2023
  • School scholarship on academic performance and social work, 2022
  • Tang Junyuan Scholarship and School-level Scholarship, 2021
  • Education

    PhD in Robotics
    School of Computer Science

    Carnegie Mellon University
    2024 - present
    Bachelor of Engineering
    Institute for Interdisciplinary Information Sciences

    Tsinghua University
    2020 - 2024
    Updated Aug 2025. Template source from here.