Zhenyu Wei  |  卫振宇

I am an incoming CS Ph.D. student at University of North Carolina at Chapel Hill, advised by Prof. Mingyu Ding. Currently, I am a fourth-year undergraduate student majoring in Computer Science at Shanghai Jiao Tong University. During my undergraduate years, I work closely with 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 🤖robot 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! If you are a researcher looking for a partner, feel free to contact me!🤟

Papers sorted by recency. Representative papers are highlighted.

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  /  Code (Coming soon)
Best Paper Award, ICRA 2025 @ Human-Centric Multilateral Teleoperation
Spotlight Presentation, ICRA 2025 @ Human-Centric Multilateral Teleoperation
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
Under review
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
Oral Presentation, CoRL 2024 @ MAPoDeL
Spotlight Presentation, CoRL 2024 @ LFDM
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 leveraging random walks across feature groups without explicit matching. By connecting it to a simpler task, cycle consistency enables the automatic discovery of positive pairs.

Award

  • Best Paper Award, ICRA 2025 @ Human-Centric Multilateral Teleoperation 2025
  • ICRA 2025 Best Paper Award on Robot Manipulation and Locomotion 2025
  • ICRA 2025 Best Paper Finalist 2025
  • Shanghai Outstanding Graduate 2025
  • Best Robotics Paper Award, CoRL 2024 @ MAPoDeL 2024
  • Outstanding Scholarship of Computer Science Alumni Fund 2024
  • Huawei Scholarship 2023
  • The Tung Foundation Scholarship 2022
  • Zhiyuan Honors Scholarship 2021 - 2024
  • Merit Student of Shanghai Jiao Tong University 2022 - 2024
  • Merit Scholarship of Shanghai Jiao Tong University 2022 - 2024

Experience

Shanghai Qi Zhi Institute, China 2025.02 - present

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.E. in Computer Science (Zhiyuan Honors Program of Engineering)
GPA: 4.0/4.3 (92.1/100)

Thanks for your visiting😊! Feel free to contact me if you have any problems.
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