Yi Cheng

Yi Cheng

chengy22@mails.tsinghua.edu.cn

I am a Master student in Artificial intelligence at Tsinghua University, advised by Houde Liu and Linqi Ye. Moreover, I also started a startup ZERITH which focused on how to extract usable data from human videos.

My research area include humanoid/legged Robot. I care about and continue to think about robots and embodied intelligence in real application scenarios to achieve commercial closed loop.

In my spare time, I like riding 🚴 and guitar 🎸. Contact me if you are interested in my work!

News

[10/2024] My startup Zerith released two Humanoid robots !!
[09/2024] Two paper was Submitted to ICLR 2025.
[09/2024] One Paper was accepted by CORL 2024, See U in Munich!
[07/2024] We got First prize (1/10000) in CRAIC (China Robotics and Artificial Intelligence Competition)
[07/2024] Two paper was accepted by IROS 2024.

Publications

	Adaptive Risk-Aware Distributed Reinforcement Learning for Robust Control junlong wu, Yi Cheng, Hang Liu, Houde Liu, Xueqian Wang, Bin Liang ICLR2025, Submitted
	Build Physical Interaction World modle for humanoid robot Locomotion Han Zheng, Yi Cheng, Hang Liu, Houde Liu, Linqi Ye, Xueqian Wang, Bin Liang ICLR2025, Submitted
	Whole body control skills learn form watching Human 2024, Demo of my Start-Up, Zerith Founder \| video \| news \|
	Dexterous manipulation learn form watching Human 2024, Demo of my Start-Up, Zerith Founder \| video \| news \|
	Multi-Brain Collaborative Control for Quadruped Robots Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu CoRL, 2024 webpage \| abstract \| airXiv \| pdf \| video
	Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li, Linqi Ye,Yi Cheng*, Xianglong Li, Houde Liu, Bin Liang ICRA, 2024, late breaking results pdf \| video
	Quadruped Robot Traversing 3D Complex Environments with Limited Perception Yi Cheng, Hang Liu, Guoping Pan, Linqi Ye, Houde Liu IROS 2024 ( Oral pitch ) webpage \| abstract \| arXiv \| pdf \| video
	Structural Optimization of Lightweight Bipedal Robot via SERL Yi Cheng, Chenxi Han, Yuheng Min, Linqi Ye, Houde Liu, Hang Liu IROS 2024 ( Oral pitch ) webpage \| abstract \| arXiv \| pdf \| video
	From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye, Jiayi Li, Yi Cheng, Xianhao Wang, Bin Liang, Yan Peng arxiv, 2023, IEEE Transactions on Automation Science and Engineering( T-ASE ) submitted pdf \| arXiv \| video
	Robot operating system —— AliothOS 2021 - now, Founder The os integrates both hardware and software systems, focusing on core innovations in kernel design, communication mechanisms, and deployment processes to address market issues like unstable communications and complex setups. For developers, it provides a built-in algorithm library and constructs the Alioth robotics community across hardware, cloud services, and algorithm ecosystems. \| Promotional Video \| IDE Video \|
	Deep Power——Quadruped Robot of Multi-Terrain Locomotion 2019 - 2020, Founder \| Video1 \| Video2 \| Video3 \| Self-developed hardware system, MPC+WBC based for motion control

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