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70 followers · 7 following
  • Tsinghua University
  • Beijing

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TATP-233/README.md

Hi, I'm Yufei Jia (贾宇飞) Nice to meet you!

GitHub User's stars GitHub followers

Welcome to my page 🏠 !

I'm Yufei Jia, a PhD student (since 2023) in the Department of Electronic Engineering at Tsinghua University.

I received my B.E. in Department of Automation from Tsinghua University (2019-2023).

My research focuses on Embodied AI especially on robot simulators and whole-body mobile manipulation.

If you are interested in my research, please feel free to contact me. I would be more than happy to collaborate on creating some awesome work together.


       


📑 Researches

First/Co-first Author

  • [IROS2025 Oral] DISCOVERSE: Efficient Robot SImulation in Complex High-Fidelity Environments, Webpage / arXiv / Repo GitHub stars

  • [Under Review] ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations, Webpage / arXiv / Repo

  • [Under Review] FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR, arXiv / Repo

  • [Under Review] FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks, arXiv / Repo

  • [IROS2024 Oral] Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot, Webpage / arXiv / Repo GitHub stars

  • [ICRA2023 Poster] Designing the Whole-Body Controller for a Wheel-Legged Mobile Manipulator, Webpage

Co-Author

  • [CoRL2025 Oral] Vision-Based Locomotion for Legged Robots: Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments, arXiv / Repo GitHub stars

  • [RAL] Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning, arXiv

  • [arXiv2025] An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation, arXiv

🛠 Open-source Projects

  • [MuJoCo-LiDAR] A high-performance LiDAR simulation tool designed for MuJoCo, Repo GitHub stars

  • [urdf2mjcf] A one-click generation tool of sim-ready MJCF files from URDF format, Repo GitHub stars

  • [ROBOCON2026-MuJoCo] A MuJoCo simulation environment designed for ROBOCON2026 provides a variety of robot motion control strategies and supports multiple sensors and ROS2 interfaces, Repo GitHub stars

💡 Academic Service

Popular repositories Loading

  1. DISCOVERSE DISCOVERSE Public

    Python 362 40

  2. MuJoCo-LiDAR MuJoCo-LiDAR Public

    High-performance LiDAR simulation for MuJoCo with CPU/Taichi/Jax backends, supporting multiple sensor types and ROS integration. 基于 MuJoCo 的高性能激光雷达仿真，支持 CPU/Taichi/Jax 多种后端、多种激光雷达类型及 ROS 集成

    Python 70 7

  3. ROBOCON2026_Scene ROBOCON2026_Scene Public

    Python 27 7

  4. urdf2mjcf urdf2mjcf Public

    URDF to MJCF conversion tool with support for STL, OBJ, DAE formats, automatic recognition of mimic tags in URDF, configurable joint actuators, and one-click generation of sim-ready MJCF files.URDF…

    Python 22 1

  5. FILIC FILIC Public

    Forked from OpenGHz/FILIC

    Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks

    Python 10

  6. FGGS-LiDAR FGGS-LiDAR Public

    4