Hi! I'm a MS Robotics student at the University of Pennsylvania's GRASP Laboratory, where I have been fortunate to work with Jason Ma, Edward Hu, Kostas Daniilidis and Dinesh Jayaraman.

I received my B.S. in Computer Engineering from ZJU and UIUC in 2024, advised by Said Mikki. and Wei Xiang.

I also spent time at IDEA-CVR as a research intern, advised by Xiaoke Jiang and Lei Zhang.

My research interests include VLAs, embodied reasoning and robot learning.
I am a passionate builder to make generalizable agents that can think and execute fine-grained manipulation, like brewing a cup of latte with an espresso machine.

This summer, I am working at Dyna Robotics, delievering high-performant embodied reasoning VLAs models!

Education

2024—Present

University of Pennsylvania

M.S.E. in Robotics

Advisor: Prof. Dinesh Jayaraman

2020—2024

Zhejiang University

B.E. in Electronic and Computer Engineering

2020—2024

University of Illinois at Urbana-Champaign

B.S. in Computer Engineering

Advisor: Prof. Said Mikki

Thesis: Intelligent Pour-Over Coffee Machine

Experience

Summer 2025

Research Intern Dyna Robotics

Advisor: Dr. Jason Ma

Building an embodied reasoning VLA for fine-grained manipulation tasks.

Fall 2024 - Present

Graduate Research Assistant University of Pennsylvania

Advisor: Dr. Jason Ma & Prof. Dinesh Jayaraman

Building VLMs-based Manipulation System via Diffusion Policy for fine-grained tasks. Reproduced ReKep, SPHINX and pi0.

Summer 2024

Multimodal MLE Intern IDEA-Computer Vision & Robotics Department

Advisor: Dr. Xiaoke Jiang & Prof. Lei Zhang

Build, train and optimize a small human-centric video captioning model based on Grounding DINO 1.6Pro.

News

August 2025

Our blog on pi0 released, welcome to check how pi0 works in the wild!

Evaluating pi0 in the Wild: Strengths, Problems, and the Future of Generalist Robot Policies

July 2025

RoboArena gets accepted by CoRL 2025, welcome to our workshop!

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

June 2025

ZeroMimic wins best paper in CVPR2025 3DVLMs workshop!

3D Vision Language Models for Robotic Manipulation: Opportunities and Challenges!

Publications

AAWR: Real-World Reinforcement Learning of Interactive Perception Behaviors

NeurIPS 2025

AAWR: Real-World Reinforcement Learning of Interactive Perception Behaviors

Edward S. Hu*, Jie Wang*, Xingfang Yuan*, Fiona Luo, Muyao Li, Gaspard Lambrechts, Oleh Rybkin, Dinesh Jayaraman

We propose a simple robot learning recipe leveraging privileged information to train interactive perception policies on real robots.

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

CoRL 2025

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

Pranav Atreya*, Karl Pertsch*, Tony Lee*, et al.

A distributed real-world evaluation framework for generalist robot policies.

Evaluating pi0 in the Wild: Strengths, Problems, and the Future of Generalist Robot Policies

Blog 2025

Evaluating pi0 in the Wild: Strengths, Problems, and the Future of Generalist Robot Policies

Jie Wang*, Matthew Leonard, Kostas Daniilidis, Dinesh Jayaraman, Edward S. Hu

We vibe-check pi0 across 300 trials on various manipulation tasks, summarize the insights and our observations in this blog.

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

ICRA 2025

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

Junyao Shi, Zhuolun Zhao, Tianyou Wang, Ian Pedroza, Amy Luo, Jie Wang, Jason Ma, Dinesh Jayaraman

Learning robotic manipulation skills from web videos with zero-shot generalization.

Visionary Co-Driver: LLMs Enhance Driver Risk Perception with ARHUD

Arxiv 2025

Visionary Co-Driver: LLMs Enhance Driver Risk Perception with ARHUD

Xiang Wei, Ziyue Lei, Jie Wang, Qi Zheng, Yingying Huang, Tianyi Zhang, Lingyun Sun

Using LLMs to analyze autonomous driving road scene, modeling the behavior of pedestrians. Construct a HUD system to evaluate the driver interaction.

Real-time V2V Communication Network Cooperative Control System through Distributed Database,

ICICT 2024

🏆 Oral Presentation

Real-time V2V Communication Network Cooperative Control System through Distributed Database,

Xinwen Zhu, Zihao Li, Yuxuan Jiang, Jiazhen Xu, Jie Wang, and Xuyang Ba

Using distributed databases for collision avoidance, verified on Quanser Car at crossroad scenario.

Patent 2022

终端机和一体机: A Thin Client and All-in-One Computer Design

Wang, Xiang, Wang, Jie

China Patent No. CN 216852698 U. Issued: June 28, 2022. Shenzhen Weidi Cloud Technology Co., LTD.

Portfolio

2025: Course Blogs of CIS7000: Real-World Robot Learning

2025: Course Blogs of CIS7000: Real-World Robot Learning

RoboticsMachine LearningResearch Seminar

A comprehensive collection of paper reading notes and algorithm reproductions for ESE6800/CIS7000 at UPenn. Learning from Prof. Antonio Loquercio and Prof. Dinesh Jayaraman on cutting-edge robotics research. 🤖📚

2025: RainyBird

2025: RainyBird

PythonDSPVLMs

A tiny white noise mixer aimed at the soothing sounds of nature. 🌧️🔥🐦

2024: CIS5190 RL-based High-Speed Drone Racing

2024: CIS5190 RL-based High-Speed Drone Racing

RLIsaacSimDrone

Advisor: Prof. Antonio LoquercioBuilt a drone racing simulation with curriculum tracks (ellipse, split-S, UZH) using OmniDrones on IsaacSim & IssacLab. Designed a PPO-based reward function, achieving 40.7% success rate and 7.94 m/s average speed on a 127m track. Trained 150M frames across 250 parallel environments in 8 hours on 2 x NVIDIA A6000 GPUs. Explored domain randomization and trajectory-based methods for robustness.

2024: PhiloCoffee Club

2024: PhiloCoffee Club

CoffeePhilosophyTechnology

A student club exploring the crossroads of coffee and philosophy, finding insights through the shared experience of a delicious cup of coffee.

2023: CS438 Wireless Network Analysis Tool

2023: CS438 Wireless Network Analysis Tool

PythonUIUC Network Analysis

A Python-based analytical tool for comprehensive wireless network analysis, featuring signal strength heatmaps and roaming mechanisms analysis. Developed in collaboration with UIUC IT Network team to study campus Wi-Fi infrastructure. 📡

2023: Shell Eco-marathon Autonomous Programming Competition

2023: Shell Eco-marathon Autonomous Programming Competition

ROSCARLAPythonAutonomous Driving

Developed autonomous driving modules using ROS and tested in CARLA simulator with Unreal 4 Engine. Focused on efficient path planning for Shell Eco-marathon competition. 🚗

2022: ECE391: MentOS - Multi-terminal Operating System

Cx86 AssemblyOperating Systems

Developed a Linux-like OS kernel using C and x86, implementing core features like paging virtual memory, IDT, GDT, and i8259-based interrupt controller. Created device drivers for RTC, keyboard, PIT and a read-only file system. Established system call linkage between user and kernel space, with support for single CPU task scheduling and multiple terminal switching. ⚙️

2021: RoboMaster University Robotics Competition

2021: RoboMaster University Robotics Competition

PythonPyTorchC/C++Computer Vision

Assisted in developing and optimizing vision algorithms for object detection via YOLOv4, contributing to auto-aiming and shooting system for real-time target engagement, improving hit accuracy by 20%. Supported the integration of vision systems on Jetson Nano with embedded platforms on DJI manifold2, achieving a 30 FPS during live competition on the industrial camera. 🤖

2021: Simulation and Modeling of Unmanned Vehicle Safety Test for Baidu Apollo D-kit

2021: Simulation and Modeling of Unmanned Vehicle Safety Test for Baidu Apollo D-kit

ROSCyber RTC++

Assembled Lidar, Radar and Camera modules for Baidu Apollo D-kit Self-driving Test Vehicle. Constructed high- solution Lidar maps across ZJU international campus. Improved perception module for traffic state estimation based on collected data and literature review. 🚗