News
[2025.05] TWIST is released and is featured by Brett Adcock, TechXplore, and The Humanoid Hub. Check out: humanoid-teleop.github.io.
[2025.05] 3D Diffusion Policy reaches 200 citations and 850 Github stars.
[2024.10] iDP3 is released. Check out: humanoid-manipulation.github.io.
[2024.09] I joined Stanford University as a PhD student.
Publications
By recency: / . By topic: / .
TWIST: Teleoperated Whole-Body Imitation System
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / bibtex
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / 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 / twitter / bibtex
Yanjie Ze*, Gu Zhang*, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu
Robotics: Science and Systems (RSS), 2024 (Oral)
project page / arXiv / code / twitter / bibtex
TWIST: Teleoperated Whole-Body Imitation System
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / bibtex
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / bibtex
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
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
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
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
X-Capture: An Open-Source Portable Device for Multi-Sensory Learning
Samuel Clarke, Suzannah Wistreich, Yanjie Ze, Jiajun Wu
arXiv, 2025
project page / arXiv / bibtex
Samuel Clarke, Suzannah Wistreich, Yanjie Ze, Jiajun Wu
arXiv, 2025
project page / arXiv / bibtex
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
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
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
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
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
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 / twitter / bibtex
Yanjie Ze*, Gu Zhang*, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu
Robotics: Science and Systems (RSS), 2024 (Oral)
project page / arXiv / code / twitter / 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
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
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
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
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
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
TWIST: Teleoperated Whole-Body Imitation System
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / bibtex
Yanjie Ze*, Zixuan Chen*, JoĆ£o Pedro AraĆŗjo*, Zi-ang Cao, Xue Bin Peng, Jiajun Wuā , C. Karen Liuā
arXiv, 2025
project page / arXiv / code / twitter / bibtex
X-Capture: An Open-Source Portable Device for Multi-Sensory Learning
Samuel Clarke, Suzannah Wistreich, Yanjie Ze, Jiajun Wu
arXiv, 2025
project page / arXiv / bibtex
Samuel Clarke, Suzannah Wistreich, Yanjie Ze, Jiajun Wu
arXiv, 2025
project page / arXiv / bibtex
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
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
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
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
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
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
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 / twitter / bibtex
Yanjie Ze*, Gu Zhang*, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu
Robotics: Science and Systems (RSS), 2024 (Oral)
project page / arXiv / code / twitter / 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
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
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 DaumƩ III, Furong Huang, Huazhe Xu
International Conference on Learning Representations (ICLR), 2024 (Spotlight)
project page / arXiv / code / bibtex
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 DaumƩ 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
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
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
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
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
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
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
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
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- Robotics: CoRL (2025, 2024), RSS (2024, 2023), ICRA (2025, 2024), IROS (2025, 2024), IJRR (2025), RA-L (2024)
- Learning: ICLR (2025, 2024, 2023), NeurIPS (2025, 2024, 2023), ICML (2025, 2024), AISTATS (2025), AAAI (2025)
- Vision: CVPR (2024, 2023), ICCV (2025), ECCV (2024)
