Experience

A collection of my research and course projects, focusing on Generative AI, Embodied Intelligence, and 3D Vision.

Project Experience

Adam’s Hand: A Dual-Arm Handover Policy with Instruction Following

• Repository: wyy603/eai_final
• Collaborators: Guohao Jing, Youbo Shao
• Date: 11/2025 – 01/2026
• Description:
  • Built a realistic simulation environment based on the LeRobot SO-101 platform and implemented a self-developed gradient-based Inverse Kinematics (IK) solver for robust expert data collection.
  • Trained an end-to-end policy using an Action Chunking Transformer (ACT) and evaluated performance across standard Track 1 benchmarks and custom long-horizon planning tasks.

Supervised Prior for Aligning Surface of Gaussian Splatting

• Repository: shaoyoubo/Supervised_Sugar
• Collaborators: Youbo Shao, Kaixin Zhang
• Date: 04/2025 – 06/2025
• Description:
  • Combined external normal and depth supervision with regularizations from SuGaR (Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering) to extract accurate surface meshes from 3DGS.
  • Developed a multi-stage training process to balance different regularization terms.

Humanoid Running in Simulated Environment

• Repository: wyy603/isr_project
• Collaborators: Ruinian Chang
• Date: 10/2024 – 12/2024
• Description:
  • Trained a humanoid robot to run at high speeds on random terrain using reinforcement learning within a simulated environment.
  • Utilized IsaacGym as the simulation environment and PPO as the primary reinforcement learning algorithm, incorporating Rapid Motor Adaptation to achieve swift environmental adaptation.
  • Performed multiple training iterations, adjusting parameters each time to continuously increase average movement speed.

Overcraft: A Web-based Cooperative Party Game

• Repository: wyy603/acg_project2
• Collaborators: Guohao Jing
• Date: 10/2024 – 12/2024
• Description:
  • Designed a web-based cooperative party game where users play similarly to Overcooked, involving cooking, grabbing, and throwing food in a 3D world.
  • Implemented an Entity Component System (ECS) for data management and utilized Three.js for rendering, Ammo.js for physics, React for UI design, WebSocket for multiplayer functionality, Vite for the front-end, and Node.js for the back-end.

Research Experience

Retargeting Human Animation to Humanoid

• Institution: Tsinghua University
• Location: Beijing, China
• Date: 02/2025 – 07/2025
• Description:
  • Conducted research under the supervision of Professor Li Yi.
  • Developed an animation retargeting framework that generates realistic humanoid motions from human animations while strictly preserving physical properties.