Biography
I am a research scientist at Waymo, working primarily on World Action Modeling. Prior to that, I was a Ph.D. student at MSC Lab in the Department of Mechanical Engineering, University of California at Berkeley. I am fortunate to be advised by Prof. Masayoshi Tomizuka and Prof. David Bogy. Before joining Berkeley, I received my B.S. degree in Mechanics from the University of Science and Technology of China (USTC).
Experience
Selected Publications
View All on Google Scholar →
Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment
Xiao Zhang*, Yuxin Chen*, Zhixuan Liang*, Guojian Zhan, Chenran Li, Chenfeng Xu, Masayoshi Tomizuka, Yiheng Li* Equal contribution
Improved Immiscible Diffusion: Accelerate Diffusion Training by Reducing Its Miscibility
Yiheng Li, Feng Liang, Dan Kondratyuk, Masayoshi Tomizuka, Kurt Keutzer, Chenfeng Xu
Immiscible Diffusion: Accelerating Diffusion Training with Noise Assignment
Yiheng Li, Heyang Jiang, Akio Kodaira, Masayoshi Tomizuka, Kurt Keutzer, Chenfeng Xu
Honors & Awards
- J. K. Zee Fellowship, UC Berkeley 2024
- Graduate Division Block Grant, UC Berkeley 2022-2023
- Guo Moruo Scholarship, USTC 2019
Academic Service
Reviewer
- CVPR 2025, 2026
- ICLR 2025, 2026
- NeurIPS 2026
- IROS 2025
- ICRA 2023, 2024, 2025
- IEEE TRO
- Nature
