Zhenyu Jiang

I am a PhD student at UT Austin, advised by Professor Yuke Zhu. Previously I obtained my Bachelor's degree from Tsinghua University. My research lies at the intersection of robotics and computer vision.

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Research
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
Abhiram Maddukuri*, Zhenyu Jiang*, Lawrence Yunliang Chen*, Soroush Nasiriany*, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar†, Linxi "Jim" Fan†, Yuke Zhu†
RSS, 2025  
project page / arXiv

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
NVIDIA GEAR Team
Arxiv, 2025  
project page / arXiv / code

DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
Zhenyu Jiang*, Yuqi Xie*, Kevin Lin*, Zhenjia Xu, Weikang Wan, Ajay Mandlekar†, Linxi "Jim" Fan†, Yuke Zhu†
ICRA, 2025  
project page / arXiv / code / UTCS News

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
Tairan He*, Wenli Xiao*, Toru Lin, Zhengyi Luo, Zhengjia Xu, Zhenyu Jiang, Jan Kautz, Changliu Liu, Guanya Shi, Xiaolong Wang, Linxi "Jim" Fan†, Yuke Zhu†
ICRA, 2025  
project page / arXiv

Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
Zhenyu Jiang*, Yuqi Xie*, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu
CoRL, 2024  
project page / arXiv

OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
Jinhan Li, Yifeng Zhu*, Yuqi Xie*, Zhenyu Jiang*, Mingyo Seo, Georgios Pavlako, Yuke Zhu
CoRL, 2024 (Oral Presentation)  
project page / arXiv

ARDuP: Active Region Video Diffusion for Universal Policies
Shuaiyi Huang, Mara Levy, Zhenyu Jiang, Anima Anandkumar, Yuke Zhu, Linxi Fan, De-An Huang, Abhinav Shrivastava
IROS, 2024  
arXiv

Doduo: Dense Visual Correspondence from Unsupervised Semantic-Aware Flow
Zhenyu Jiang, Hanwen Jiang, Yuke Zhu
ICRA, 2024  
project page / arXiv / code

LEAP: Liberate Sparse-view 3D Modeling from Camera Poses
Hanwen Jiang, Zhenyu Jiang, Yue Zhao, Qixing Huang
ICLR, 2024  
project page / arXiv / code

Few-View Object Reconstruction with Unknown Categories and Camera Poses
Hanwen Jiang, Zhenyu Jiang, Yuke Zhu
3DV, 2024 (Oral Presentation)  
project page / arXiv / code

Learning Generalizable Manipulation Policies with Object-Centric 3D Representations
Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu
CoRL, 2023  
project page / arXiv / code

Extended Version of ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
Bokui Shen*, Zhenyu Jiang*, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu
International Journal of Robotics Research (IJRR), 2023  
project page / paper / code

Ditto in the House: Building Articulated Models of Indoor Scenes through Interactive Perception
Cheng-Chun Hsu, Zhenyu Jiang, Yuke Zhu
ICRA, 2023  
project page / arXiv / code

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu
RSS, 2022 (Best Student Paper Award Nominee, Long talk)  
project page / arXiv / code

Ditto: Building Digital Twins of Articulated Objects from Interaction
Zhenyu Jiang, Cheng-Chun Hsu, Yuke Zhu
CVPR, 2022 (Oral Presentation)  
project page / arXiv / code

Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
RSS, 2021  
project page / arXiv / video / code

DeformSyncNet: Deformation Transfer via Synchronized Shape Deformation Spaces
Minhyuk Sung*, Zhenyu Jiang*, Panos Achlioptas, Niloy Mitra, Leonidas Guibas
SIGGRAPH Asia, 2021  
project page / arXiv / code

Deep Face Super-Resolution with Iterative Collaboration between Attentive Recovery and Landmark Estimation
Cheng Ma, Zhenyu Jiang, Yongming Rao, Jiwen Lu, Jie Zhou
CVPR, 2020  
arXiv / code

Semg-based tremor severity evaluation for parkinson's disease using a light-weight cnn
Zengyi Qin*, Zhenyu Jiang*, Jiansheng Chen, Chunhua Hu, Yu Ma
IEEE Signal Processing Letters  

Awards
  • RSS 2022 Best Student Paper Award Finalist
         ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
  • IEEE-CVPR 2022 Outstanding Reviewer
    • Service
    Reviewer for CVPR, ICCV, ECCV, ICRA, CoRL, RSS, AAAI, RA-L, TIP, etc.
    Teaching
  • Fall 2021, Teaching Assistant, CS391R Robot Learning, UT Austin
  • Spring 2023, Teaching Assistant, CS391R Robot Learning, UT Austin

    • Website design from Jon Barron, source code here.