wangyenjen AT berkeley.edu

Hi! I am Yen-Jen Wang, a second-year Ph.D. student at UC Berkeley, advised by Professors Pieter Abbeel and Shankar Sastry. I work closely with Professor Haozhi Qi and am also part-time with the Amazon FAR (Frontier AI & Robotics) team.

Early in my Ph.D., I worked closely with Professor Koushil Sreenath and collaborate with Professor Jitendra Malik, which influenced my current research interests.

I received my M.S. from Tsinghua University, advised by Professor Jianyu Chen, and my B.S. from National Taiwan University.

My research interests include Humanoid Whole-body Control, Dexterous Manipulation, and Foundation Models for Robotics. Outside of research, I enjoy competitive programming. Feel free to reach out if you’d like to connect.

Selected International Awards

• Best Paper Nomination, Robotics: Science and Systems (RSS), 2024
  • Official Website
• 5th Place (Silver Medal), International Collegiate Programming Contest (ICPC) World Finals, 2019
  • Official ICPC Profile
  • Codebook & Practice Records for World Finals
• Silver Medal, International Olympiad in Informatics (IOI), 2017
  • Official IOI Profile

Selected Publications (First/Co-first Author)

*: Equal contribution. †: Equal advising.

Learning Dexterous Manipulation Skills from Imperfect Simulations

Elvis Hsieh*, Wen-Han Hsieh*, Yen-Jen Wang*, Toru Lin, Jitendra Malik, Koushil Sreenath†, Haozhi Qi†

IEEE International Conference on Robotics & Automation (ICRA), 2026

pdf code page

MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning

Yuanchen Ju*, Yongyuan Liang*, Yen-Jen Wang*, Nandiraju Gireesh, Yuanliang Ju, Seungjae Lee, Qiao Gu, Elvis Hsieh, Furong Huang†, Koushil Sreenath†

International Conference on Learning Representations (ICLR), 2026
Oral (Top 1%)

pdf code page

Coordinated Humanoid Manipulation with Choice Policies

Haozhi Qi* Yen-Jen Wang*, Toru Lin, Brent Yi, Yi Ma, Koushil Sreenath†, Jitendra Malik†

Tech Report, Dec 2025

pdf code page

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

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

pdf code page

Prompt a Robot to Walk with Large Language Models

Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

Conference on Decision and Control (CDC), 2024
Oral Presentation

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Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning

Xinyang Gu*, Yen-Jen Wang*, Xiang Zhu*, Chengming Shi*, Yanjiang Guo, Yichen Liu, Jianyu Chen

Robotics: Science and Systems (RSS), 2024
Best Paper Award Finalists

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DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment

Yanjiang Guo*, Yen-Jen Wang*, Lihan Zha*, Zheyuan Jiang, Jianyu Chen

International Conference on Intelligent Robots and Systems (IROS), 2024

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Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Xinyang Gu*, Yen-Jen Wang*, Jianyu Chen

ICRA Workshop on Agile Robotics, 2024

pdf code page