𝐘𝐚𝐧𝐣𝐢𝐞 𝐙𝐞

Gmail / Google Scholar / GitHub / Twitter

I am a PhD student at Stanford Computer Science, co-advised by Jiajun Wu and Karen Liu. I work on Embodied AI and General-Purpose Robots. Previously, I received Bachelor degree from Shanghai Jiao Tong University, working with Xiaolong Wang and Huazhe Xu.

Recent research highlights:

Generalizable Humanoid Manipulation, arXiv 2024

3D Diffusion Policy, RSS 2024

Publications

Selected papers are highlighted.

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei
arXiv, 2025
project page / arXiv / code / bibtex
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen*, Xialin He*, Yen-Jen Wang*, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
arXiv, 2024
project page / arXiv / code / bibtex
Generalizable Humanoid Manipulation with 3D Diffusion Policies
Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, Jiajun Wu
arXiv, 2024
project page / arXiv / code (learning) / code (teleop) / bibtex
Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
Yuanhang Zhang*, Tianhai Liang*, Zhenyang Chen, Yanjie Ze, Huazhe Xu
International Conference on Robotics and Automation (ICRA), 2025
CoRL Workshop on Dexterous Manipulation, 2024 (Best Paper Nomination)
project page / arXiv / code / bibtex
Diffusion Reward: Learning Rewards via Conditional Video Diffusion
Tao Huang*, Guangqi Jiang*, Yanjie Ze, Huazhe Xu
European Conference on Computer Vision (ECCV), 2024
project page / arXiv / code / bibtex
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, Huazhe Xu
International Conference on Intelligent Robots and Systems (IROS), 2024 (Oral)
project page / arXiv / bibtex
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
Yanjie Ze*, Gu Zhang*, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu
Robotics: Science and Systems (RSS), 2024 (Oral)
project page / arXiv / code / bibtex
Generalizable Visual Reinforcement Learning with Segment Anything Model
Ziyu Wang*, Yanjie Ze*, Yifei Sun, Zhecheng Yuan, Huazhe Xu
arXiv, 2023
project page / arXiv / code / bibtex
Unleashing the Power of Pre-trained Language Models for Offline Reinforcement Learning
Ruizhe Shi*, Yuyao Liu*, Yanjie Ze, Simon S. Du, Huazhe Xu
International Conference on Learning Representations (ICLR), 2024
project page / arXiv / code / bibtex
DrM: Mastering Visual Reinforcement Learning through Dormant Ratio Minimization
Guowei Xu*, Ruijie Zheng*, Yongyuan Liang*, Xiyao Wang, Zhecheng Yuan, Tianying Ji, Yu Luo, Xiaoyu Liu, Jiaxin Yuan, Pu Hua, Shuzhen Li, Yanjie Ze, Hal Daumé III, Furong Huang, Huazhe Xu
International Conference on Learning Representations (ICLR), 2024 (Spotlight)
project page / arXiv / code / bibtex
H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation
Yanjie Ze, Yuyao Liu*, Ruizhe Shi*, Jiaxin Qin, Zhecheng Yuan, Jiashun Wang, Huazhe Xu
Conference on Neural Information Processing Systems (NeurIPS), 2023
project page / arXiv / code / poster / bibtex
MoVie: Visual Model-Based Policy Adaptation for View Generalization
Sizhe Yang*, Yanjie Ze*, Huazhe Xu
Conference on Neural Information Processing Systems (NeurIPS), 2023
project page / arXiv / code / poster / bibtex
GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields
Yanjie Ze*, Ge Yan*, Yueh-Hua Wu*, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, Xiaolong Wang
Conference on Robot Learning (CoRL), 2023 (Oral)
project page / arXiv / code / poster / bibtex
On Pre-Training for Visuo-Motor Control: Revisiting a Learning-from-Scratch Baseline
Nicklas Hansen*, Zhecheng Yuan*, Yanjie Ze*, Tongzhou Mu*, Aravind Rajeswaran+, Hao Su+, Huazhe Xu+, Xiaolong Wang+
International Conference on Machine Learning (ICML), 2023
arXiv / code / poster / bibtex
Visual Reinforcement Learning with Self-Supervised 3D Representations
Yanjie Ze*, Nicklas Hansen*, Yinbo Chen, Mohit Jain, Xiaolong Wang
Robotics and Automation Letters (RA-L), 2023
International Conference on Intelligent Robots and Systems (IROS), 2023 (Oral)
project page / arXiv / code / poster / bibtex
DPMAC: Differentially Private Communication for Cooperative Multi-Agent Reinforcement Learning
Canzhe Zhao*, Yanjie Ze*, Jing Dong, Baoxiang Wang, Shuai Li
International Joint Conference on Artificial Intelligence (IJCAI), 2023
arXiv / code / bibtex
Differentially Private Temporal Difference Learning with Stochastic Nonconvex-Strongly-Concave Optimization
Canzhe Zhao, Yanjie Ze, Jing Dong, Baoxiang Wang, Shuai Li
International Conference on Web Search and Data Mining (WSDM), 2023
arXiv / code / bibtex
UKPGAN: A General Self-Supervised Keypoint Detector
Yang You, Wenhai Liu, Yanjie Ze, YongLu Li, Weiming Wang, Cewu Lu
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022
project page / arXiv / code / bibtex

Services

I am willing to help build our academic community. I serve as reviewer for
How far is a light year?