Zhenyu Wei

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. I received my Bachelor's degree in Computer Science at 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.

Email / CV / Github / Google Scholar / WeChat

News

[2025/06] 🎉 MetaFold has been accepted to IROS 2025 as oral presentation!
[2025/05] 🏅 $\small \mathcal{D(R, O)}$ Grasp won the ICRA 2025 Best Paper Award on Robot Manipulation and Locomotion, and TelePreview won the Best Paper Award at ICRA 2025 Workshop on Human-Centric Multilateral Teleoperation!
[2025/04] 🏅 $\small \mathcal{D(R, O)}$ Grasp has been selected as an ICRA 2025 Best Paper Award Finalist!
[2025/01] 🎉 $\small \mathcal{D(R, O)}$ Grasp has been accepted to ICRA 2025!
[2024/12] 🎉 IRC has been accepted to TPAMI!
[2024/11] 🏅 $\small \mathcal{D(R, O)}$ Grasp won the Best Robotics Paper Award at CoRL 2024 Morphology-Aware Policy and Design Learning Workshop!

Research

My research interests lie in 🤖dexterous 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, 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 Best Paper Award, 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 IROS 2025 International Conference on Intelligent Robots and Systems Oral Presentation 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 × × 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.

Selected Honors

ICRA 2025 Best Paper Award on Robot Manipulation and Locomotion 2025
Best Paper Award, ICRA 2025 @ Human-Centric Multilateral Teleoperation Workshop 2025
Zhiyuan Outstanding Scholarship (Top 30 Undergraduates at SJTU) 2025
Shanghai Outstanding Graduate (Top 5% of Graduates at SJTU) 2025
Best Robotics Paper Award, CoRL 2024 @ MAPoDeL Workshop 2024
Outstanding Scholarship of Computer Science Alumni Fund (Top 5% in Major) 2024
Huawei Scholarship (Top 5% in Major) 2023
The Tung Foundation Scholarship (Top 5% in Major) 2022
Zhiyuan Honors Scholarship (Top 10% Students at SJTU) 2021 - 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.Eng. in Computer Science (Zhiyuan Honor Degree)
GPA: 4.0/4.3 (92.5/100)

Thank you for visiting 😊 Feel free to contact me if you have any questions.
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