Weikang Wan 「万维康」

I'm a senior undergraduate student in EECS at Peking University (PKU).

I am now research intern at UT Austin RPL Lab, advised by Prof. Yuke Zhu. I have been working as a research intern at PKU EPIC Lab since 2021, advised by Prof. He Wang. I also had the privilege of working closely with Prof. Li Yi at Tsinghua University, Prof. David Held and Prof. Zackory Erickson in the Robotics Institute at Carnegie Mellon University.

My research interests are on the intersection of robotics and embodied AI. Specifically, I am focusing on developing efficient algorithms which enable embodied robots to learn how to perform complex tasks with strong generalization in the 3D world.

Email  /  Google Scholar  /  Github

profile photo

*:equivalent contribution; †: corresponding author(s)

LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery
Weikang Wan, Yifeng Zhu, Rutav Shah, Yuke Zhu
project page / arXiv / code
ICRA 2024
CoRL 2023 @ Deployable, Oral Presentation

Differentiable Trajectory Optimization as a Policy Class for Reinforcement and Imitation Learning
Weikang Wan*, Yufei Wang*, Zackory Erickson, David Held
project page / arXiv / code
Under Review

UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning
Weikang Wan*, Haoran Geng*, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, He Wang
project page / arXiv / code
ICCV 2023, Oral Presentation, Best Paper Finalist (Top 0.2% of submissions)

UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
Yinzhen Xu*, Weikang Wan*, Jialiang Zhang*, Haoran Liu*, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang
project page / arXiv / code
CVPR 2023

Learning Category-Level Generalizable Object Manipulation Policy via Generative Adversarial Self-Imitation Learning from Demonstrations
Hao Shen*, Weikang Wan*, He Wang
project page / arXiv / code
Robotics and Automation Letters (RA-L) and IROS 2022
1st place winner of SAPIEN ManiSkill Challenge 2021 (ICLR 2022 Challenge Track)

HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction
Yunze Liu*, Yun Liu*, Che Jiang, Kangbo Lyu, Weikang Wan, Hao Shen, Boqiang Liang, Zhoujie Fu, He Wang, Li Yi
project page / arXiv / code / CVPR 2023 challenge / workshop
CVPR 2022

Research Experience
UT Austin, USA
2023.7 - now
Visiting Researcher
Advisor: Prof. Yuke Zhu
Carnegie Mellon University, USA
2022.12 - 2023.7
Visiting Researcher
Advisor: Prof. David Held and Prof. Zackory Erickson
Peking University, China
2021.05 - Present
Undergraduate Research Intern
Advisor: Prof. He Wang

Reviewer: CVPR 2023; RSS 2023; ICRA 2024

Updated at Oct. 2023
Thanks Jon Barron for this amazing template