Embodied AI · Robotic Manipulation · Computer Vision

Yuran Wang

王昱然

I am a Ph.D. candidate at the School of Computing, NUS, advised by Prof. Lin Shao. Prior to that, I spent a very enjoyable master’s time at Peking University under the supervision of Prof. Hao Dong and Dr. Ruihai Wu. Earlier, I studied at Chien-Shiung Wu College, Southeast University, where I was nominated for the Most Influential Graduate honor of Southeast University.

Email GitHub Google Scholar

Yuran Wang at Changbai Mountains Huamei Resort — Taken at Changbai Mountains Huamei Resort.
Photo by Qize Yu.

News

2026.10

Award

XPolicyLab received the Best Tool Paper Award at the IROS 2026 ScaleInfra Workshop.

2026.09

Release

OpenWAM has been released! It is a full-stack, open-source research framework for World Action Models.

Welcome aboard OpenWAM and have fun!

2026.08

Release

Released XPolicyLab, a unified standard for robot policy evaluation and deployment!

2026.07

Release

Released RoboDojo, a unified sim-and-real benchmark for generalist robot manipulation!

2026.02

Acceptance

GarmentPile++ was accepted to ICRA 2026. Congratulations to Mingleyang Li!

In addition, four other papers were accepted to ICRA 2026. Congratulations to all collaborators!

2025.06

Spotlight

DexGarmentLab was accepted as a Spotlight paper at NeurIPS 2025.

2025.03

Acceptance

GarmentPile was accepted to CVPR 2025.

Education

2026.08 - Present

National University of Singapore

Ph.D., Embodied AI

2025.09 - 2026.06

Peking University

Master, Embodied AI

2021.09 - 2025.06

Southeast University

Bachelor, Computer Science and Technology

Publications

* denotes equal contribution. Highlighted cards indicate selected work.

GroundingPI: A Grounding Foundation Model towards Physical Intelligence with Visual Primitives

Preprint Under Review

Qize Yu*‡, Lianrui Fan*, Boyu Chen*, Jiaqi Liang*, Xini Ding*, Yue Chen, Zetian Song, Yuran Wang, Yi Zou, Kaixuan Wang, Tianxing Chen, Wenxuan Song, Bohan Zhou, Mingleyang Li, Siqiao Huang, Yuqi Ye, Caigao Jiang, Wei Wei, Ruihai Wu, Hang Zhang, Yixiao Ge, Shuchang Zhou, Shilong Liu, Xianming Liu, Ping Luo‡, Shiyu Huang‡

Arxiv Code Project

GroundAnything parallel decoding and visual grounding architecture

GroundAnything: Reconciling Parallel Decoding with Precise Visual Grounding at Flash Speed

Preprint

Qize Yu*†, Lianrui Fan*, Bowen Ping*, Xini Ding*, Zetian Song*, Junbo Niu, Kaixuan Wang, Tianxing Chen, Yue Chen, Minghua He, Yuran Wang, Jie Huang, Haojun Zhang, Min Chen, Hao Li, Wenxuan Song, Ruihai Wu, Xianming Liu, Shilong Liu, Shuchang Zhou, Ping Luo‡, Shiyu Huang‡

Arxiv Code Project

OpenWAM: An Open, Modular Exploration Towards Systematic World–Action Model Pretraining

Preprint Under Review

Yuran Wang*‡, Siqiao Huang*‡, Mingleyang Li*, Chenhao Zhang*, Jiaqi Liang*, Weiyang Jin, Yue Chen, Xuemin Chi, Donghao Zhou, Qize Yu, Yu-Kai Wang, Yuhan Rui, Shenzhe Yao, Zhen Yuan, Zhenhao Shen, Kefei Zhu, Zijie Zhu, Ning Gao, Xiaowei Chi, Guanqi He, Shanghang Zhang, Hao Dong, Lin Shao†, Hang Zhao†

Arxiv Code Project

XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment

IROS2026 · ScaleInfra Workshop · Best Tool Paper Award

Tianxing Chen*§, Yue Chen*, Tian Nian*, Zijian Cai*, Guangyu Chen*, Wenwei Lin*, Qiwei Liang*, Zanxin Chen*, Peicheng Xiang, Kailun Su, Zixuan Li, Junyuan Tang, Yan Qin, Qiangyu Chen, Shaolong Zhu, Xiang Li, Jiahao Zhang, Weijie Wan, Baijun Chen, Honghao Su, Kehe Ye, Shujia Liu, Huan-ang Gao, Kaixuan Wang, Haotian Liang, Yunze Liu, Mingleyang Li, Yuran Wang, Boyu Chen, Hongzhe Bi, Shuhe Huang, Hengkai Tan, Jisong Cai, Yao Mu, Jun Guo, Xiaofeng Wang, Zheng Zhu, Weijie Ke, Hengtao Li, Yiqing Wang, Tengyue Jiang, Yuhang Tang, Xiaofan Li, Ganlin Yang, Zhangzheng Tu, Shuai Yang, Wenxuan Song, Pengxiang Ding, Kaidong Zhang, Yu Sun, Junliang Guo, Tong Zhang, Yixing Chen, Rongxu Cui, Zongzheng Zhang, Haoxiang Ma, Junhao Cai, Haoyu Zhang, Senqiao Yang, Jinhui Ye, Pengguang Chen, Shu Liu, Xiu Su, Wenhan Fang, Wenhao Li, Yichao Cao, Chengyao Wang, Qiang Chen, Wenbo Ding†, Ping Luo†

Arxiv Code Project

RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies

Preprint

Tianxing Chen*§, Yue Chen*§†, Zixuan Li*, Junyuan Tang*, Kailun Su*, Haoran Lu*, Weijie Wan*, Baijun Chen*, Songling Liu*, Haowen Yan, Honghao Su, Zhiyang Dou, Kaixuan Wang, Dandan Zhang, Yunze Liu, Yan Qin, Qiwei Liang, Qiwei Wu, Zijian Lin, Wenwei Lin, Yuran Wang, Minghua He, Tianshu Wu, Ruihai Wu, Jingquan Zhou, Kai-Chong Lei, Haibao Yu, Yuanfeng Ji, Weiyang Jin, Guanyu Lin, Xiaofan Li, Qi Xiong, Renjing Xu, Zhongyu Li, Wenhao Chai, Enze Xie, Ziwei Wang, Yao Mu, Hao Dong, Wojciech Matusik, Mingyu Ding†, Wenbo Ding†, Ping Luo†, Masayoshi Tomizuka†

Arxiv Code Project

AffordanceWAM joint world-action modeling pipeline

AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation

Preprint Under Review

Jiadi You*, Qize Yu*, Yue Chen, Minghong Cai, Zhide Zhong, Yuran Wang, Bowen Ping, Jiaqi Liang, Zhenhao Shen, Haodong Yan, Yinchuan Li, Ruihai Wu, Xiaojuan Qi†, Yingcong Chen†

Arxiv Project

AdaDexGrasp visual-tactile grasping overview

AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion

ECCV 2026

Xirui Liang, Jingkai Xu, Jiaqi Liang, Yuran Wang, Ruochong Li, Yuanpei Chen, Masayoshi Tomizuka, Wei Zhan, Ruihai Wu

Arxiv Code Project

AffordanceVLA affordance-aware action generation overview

AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

Preprint Under Review

Qize Yu*, Jiadi You*, Yuran Wang, Jiaqi Liang, Bowen Ping, Yang Tian, Yue Chen, Minghong Cai, Zeying Gong, Ruihai Wu, Yinchuan Li, Junwei Liang†, Yingcong Chen†

Arxiv Code Project

FlatLab: A Unified Methodology Framework and Simulation-Based Benchmark for Robotic Manipulation of Flat Objects

ICML 2026

Xingyu Zhu, Wenshuo Han, Zhouyu Wang, Yuran Wang, Ruihai Wu, Hao Dong, Fan Tang, Hechang Chen, Hyung Jin Chang, Yixing Gao

Arxiv Project

RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design

Preprint Under Review

Tianxing Chen*, Yuran Wang*, Mingleyang Li*, Yan Qin*, Hao Shi, Zixuan Li, Yifan Hu, Yingsheng Zhang, Kaixuan Wang, Yue Chen, Hongcheng Wang, Renjing Xu, Ruihai Wu, Yao Mu, Yaodong Yang, Hao Dong, Ping Luo

Arxiv Github Project

GraspALL low-light garment grasping architecture

GraspALL: Adaptive Structural Compensation from Illumination Variation for Robotic Garment Grasping in Any Low-Light Conditions

CVPR 2026 · Highlight

Haifeng Zhong, Wenshuo Han, Zhouyu Wang, Runyang Feng, Fan Tang, Tong-Yee Lee, Zipei Fan, Ruihai Wu, Yuran Wang, Hao Dong, Hechang Chen, Hyung Jin Chang, Yixing Gao

Arxiv Code

MagicSim executable embodied interaction infrastructure overview

MagicSim: A Unified Infrastructure for Executable Embodied Interaction

Preprint

Haoran Lu*†, Songling Liu*, Yue Chen*, Guo Ye, Mutian Shen, Shuyang Yu, Yu Xiao, Shang Wu, Jiayi Wang, Jianshu Zhang, Jihai Zhao, Xiangtian Gui, Chuye Hong, Yuran Wang, Maojiang Su, Ruihai Wu, Zhaoran Wang, Han Liu†

Arxiv

HeteroGenManip heterogeneous object interaction overview

HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions

Preprint Under Review

Zhenhao Shen*, Zeming Yang*, Yue Chen, Yuran Wang, Shengqiang Xu, Mingleyang Li, Hao Dong, Ruihai Wu†

Arxiv Code Project

GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoning

ICRA 2026

Mingleyang Li*, Yuran Wang*, Yue Chen, Tianxing Chen, Jiaqi Liang, Zishun Shen, Haoran Lu, Ruihai Wu, Hao Dong

Arxiv Github Project

LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarios

ICRA 2026 IROS RAMODO Workshop Best Paper

Zeyi Li, Yushi Yang, Shawn Xie, Jingkai Xu, Tianxing Chen, Yuran Wang, Zhenhao Shen, Yan Shen, Wenjun Li, Yukun Zheng, Chaorui Zhang, Siyi Lin, Fei Teng, Hongjun Yang, Ming Chen, Steve Xie, Ruihai Wu

Arxiv Github Project

DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting

ICRA 2026

Jiayuan Zhang, Ruihai Wu, Haojun Chen, Yuran Wang, Yifan Zhong, Ceyao Zhang, Yaodong Yang, Yuanpei Chen

Arxiv

Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions

ICRA 2026

Ziyu Zhu, Ruihai Wu, Yue Chen, Xirui Liang, Hojin Bae, Yuran Wang, Hao Dong

Project

AdaptPnP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation

ICRA 2026

Jinxuan Zhu, Chenrui Tie, Xinyi Cao, Yuran Wang, Jingxiang Guo, Zixuan Chen, Haonan Chen, Junting Chen, Yangyu Xiao, Ruihai Wu, Lin Shao

Arxiv Github Project

DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy

NeurIPS2025 · Spotlight IROS2025 · RAMODO Workshop · Best Poster Finalist

Yuran Wang*, Ruihai Wu*, Yue Chen*, Jiarui Wang, Jiaqi Liang, Ziyu Zhu, Haoran Geng, Jitendra Malik, Pieter Abbeel, Hao Dong

Arxiv Github Project

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

RSS 2025

RoboVerse Team

Arxiv Github Project Document

GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation

CVPR 2025 IROS2025 · RAMODO Workshop · Best Poster Finalist

Ruihai Wu*, Ziyu Zhu*, Yuran Wang*, Yue Chen, Jiarui Wang, Hao Dong

Arxiv Github Project

Experience

Selected Activities

Invited Talk

Invited Talk on OpenWAM

Presented OpenWAM at the GOAI forum, sharing an open, modular framework for systematic world-action model pretraining.

Talk Details

Organizer

LeHome Challenge @ ICRA 2026

Organizer of the first simulation-driven competition on deformable object manipulation.

Challenge Page