Embodiment-invariant latent action space enhances performance as demonstrations scale across different hand embodiments, similarly to scaling with additional data from a single hand.
DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation
Yutong Liang*, Shiyi Xu*, Yulong Zhang*, Bowen Zhan, He Zhang, Libin Liu
Eurographics • 2026
Key Finding
Dexterous in-hand manipulation can be captured by providing dense motion information while minimizing interference caused by markers.
GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
Guangqi Jiang*, Haoran Chang*, Ri-Zhao Qiu, Yutong Liang, Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang
ICRA • 2026
ROBOVERSE: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
RoboVerse Team
RSS • 2025
SimiSketch: A Sketching Algorithm for Similarity Estimation
Fenghao Dong, Yang He*, Yutong Liang*, Zirui Liu, Yuhan Wu, Peiqing Chen, and Tong Yang
arxiv • 2024
Small Research Projects
Motion Matching on AMASS
A motion matching project on AMASS dataset.
PhyMANO
Simulate MANO in physics simulators.
Motion Guided Layout Design
Indoor human motion for better navigation and comfort.
Personal Interest
My Course Review
Course reviews and resources for PKU students.
PKU Treehole Starred Saver
Save your starred posts in Peking University Treehole.
Typst Thesis Template
Peking University Undergraduate Thesis Template in Typst.
IDV Evaluation
Evaluate Account Value for NetEase Game: Identity V.
Course2Note
Convert course playbacks into clear notes or cleaned transcripts.
My Website
My personal website built with Astro, a.k.a. this website.
