Yi Wang

News

• Sep. 2026

  RoboPocket was accepted to CoRL 2026.

• Sep. 2026

  FTP-1 was accepted to CoRL 2026.

• Sep. 2026

  LIFT was accepted to CoRL 2026.

• Jun. 2026

  ImplicitRDP was accepted to IEEE Robotics and Automation Letters (RA-L) 2026.

• Feb. 2026

  We released the code and models for ImplicitRDP.

• Dec. 2025

  We introduced ImplicitRDP, an end-to-end visual-force diffusion policy.

Selected Publications

CoRL 2026

LIFT: Never Too Late for Force — Accelerating VLA Post-Training with Reactive Force Injection

Yi Wang, Wendi Chen, Zimo Wen, Han Xue, Xueqi Li, Wenye Yu, Zhijie Chen, Hao Yang, Jun Lv, Chuan Wen, Cewu Lu

Reactive force injection augments pretrained vision-language-action policies with force feedback for efficient post-training and contact-rich manipulation.

Project Paper arXiv

CoRL 2026

RoboPocket: Improve Robot Policies Instantly with Your Phone

Junjie Fang, Wendi Chen, Han Xue, Fangyuan Zhou, Tian Le, Yi Wang, Yuting Zhang, Jun Lv, Chuan Wen, Cewu Lu

A smartphone-based system for robot-free policy iteration, using augmented-reality visual foresight and asynchronous online fine-tuning to improve data efficiency.

Project arXiv

CoRL 2026

FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation

Chengbo Yuan, Zicheng Zhang, Mingjie Zhou, Wendi Chen, Yi Wang, Zhuoyang Liu, Dantong Niu, Shuo Wang, Hui Zhang, Wenkang Zhang, Yingdong Hu, Yuanqing Gong, Wanli Xing, Chuan Wen, Cewu Lu, Kaifeng Zhang, Yang Gao

A generalist tactile foundation policy that learns transferable manipulation abilities across heterogeneous sensors and embodiments.

Project arXiv

IEEE RA-L 2026

ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning

Wendi Chen, Han Xue, Yi Wang, Fangyuan Zhou, Jun Lv, Yang Jin, Shirun Tang, Chuan Wen, Cewu Lu

A unified policy combining visual planning with high-frequency force feedback for reactive and temporally coherent robot control.

Project Paper Code

Education