Yen-Jen Wang (王彥仁)

yenjen.png
wangyenjen AT berkeley.edu

Hi! I am Yen-Jen Wang, a second-year Ph.D. student at UC Berkeley, advised by Professors Pieter Abbeel and Shankar Sastry. I work closely with Professor Haozhi Qi, and during my first year I had the pleasure to work closely with Professor Koushil Sreenath.

Previously, I received my M.S. from Tsinghua University, where I was advised by Professor Jianyu Chen, and my B.S. from National Taiwan University.

My research interests include Humanoid Whole-body Control, Dexterous Manipulation, and Foundation Model for Robotics. You can find my research work on my Google Scholar profile, along with a selection highlighted on this website. Outside of research, I also enjoy competitive programming.

Feel free to email me if my experience is of interest to you. : )

Selected Awards

Selected Publications

*: Equal contribution (co-first author). †: Equal advising.

Coordinated Humanoid Manipulation with Choice Policies
Haozhi Qi* Yen-Jen Wang*, Toru Lin, Brent Yi, Yi Ma, Koushil Sreenath†, Jitendra Malik†
Tech Report, Dec 2025
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MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju*, Yongyuan Liang*, Yen-Jen Wang*, Nandiraju Gireesh, Yuanliang Ju, Seungjae Lee, Qiao Gu, Elvis Hsieh, Furong Huang†, Koushil Sreenath†
Tech Report, Dec 2025
pdf code page
Evolution of Humanoid Locomotion Control
Evolution of Humanoid Locomotion Control
Yan Gu*, Guanya Shi*, Fan Shi*, I-Chia Chang, Yen-Jen Wang, Qilong Cheng, Zachary Olkin, Ivan Lopez-Sanchez, Yunchu Feng, Jian Zhang, Aaron D. Ames, Hao Su†, Koushil Sreenath†
Tech Report, Dec 2025
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Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh*, Wen-Han Hsieh*, Yen-Jen Wang*, Toru Lin, Jitendra Malik, Koushil Sreenath†, Haozhi Qi†
Tech Report, Dec 2025
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Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen*, Xialin He*, Yen-Jen Wang*, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
pdf code page
Prompt a Robot to Walk with Large Language Models
Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath
Conference on Decision and Control (CDC), 2024
Oral Presentation
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Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
Xinyang Gu*, Yen-Jen Wang*, Xiang Zhu*, Chengming Shi*, Yanjiang Guo, Yichen Liu, Jianyu Chen
Robotics: Science and Systems (RSS), 2024
Best Paper Award Finalists
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DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment
Yanjiang Guo*, Yen-Jen Wang*, Lihan Zha*, Zheyuan Jiang, Jianyu Chen
International Conference on Intelligent Robots and Systems (IROS), 2024
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Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer
Xinyang Gu*, Yen-Jen Wang*, Jianyu Chen
ICRA Workshop on Agile Robotics, 2024
pdf code page