Ph.D. Student in Computer Science · Robotics

Zhenyu Wei 卫振宇

I am a first-year 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 Shanghai Jiao Tong University. During my undergraduate years, I was fortunate to be advised by Prof. Cewu Lu, Prof. Lin Shao, and Prof. Huazhe Xu.

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News

2026/04 OHRA has been accepted to RSS 2026!
2025/08 Started my Ph.D. journey at University of North Carolina at Chapel Hill!
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!
2025/01 $\small \mathcal{D(R, O)}$ 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 focuses on dexterous manipulation, with an emphasis on cross-embodiment learning. I aim to develop unified representations of robotic hands and actions, enabling general policies that transfer across different embodiments.

One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation

Zhenyu Wei, Yunchao Yao, Mingyu Ding

RSS 2026 Robotics: Science and Systems XXII

Website arXiv Code Media

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs

Yu Fang, Yuchun Feng, Dong Jing, Jiaqi Liu, Yue Yang, Zhenyu Wei, Daniel Szafir, Mingyu Ding

Website arXiv

Mixture of Horizons in Action Chunking

Dong Jing, Gang Wang, Jiaqi Liu, Weiliang Tang, Zelong Sun, Yunchao Yao, Zhenyu Wei, Yunhui Liu, Zhiwu Lu, Mingyu Ding

Website arXiv Code

RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning

Kun Lei*, Huanyu Li*, Dongjie Yu*, Zhenyu Wei*, Lingxiao Guo, Zhennan Jiang, Ziyu Wang, Shiyu Liang, Huazhe Xu

Website arXiv

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

· ICRA 2025 @ Human-Centric Multilateral Teleoperation

Website arXiv

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

IROS 2025 Oral International Conference on Intelligent Robots and Systems

Website arXiv

$\mathcal{D(R,O)}$ 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

ICRA 2025 International Conference on Robotics and Automation

· CoRL 2024 @ MAPoDeL

Website arXiv Code Media

Auto-Pairing Positives through Implicit Relation Circulation for Discriminative Self-Learning

Bo Pang, Zhenyu Wei, Jingli Lin, Cewu Lu

TPAMI 2025 IEEE Transactions on Pattern Analysis and Machine Intelligence

IEEE Xplore Code

Selected Honors

2025 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
2024 Best Robotics Paper Award, CoRL 2024 @ MAPoDeL Workshop