PiperPilot
Independent Open SourceAn end-to-end, low-latency XR teleoperation and LeRobot-compatible data-collection toolkit for Piper robots, with Quest 3 and SpaceMouse control, replay, and policy deployment.
About
I am an M.S. Robotics student at the University of Michigan working on robot learning, world models, reinforcement learning, and scalable data systems for embodied intelligence. I am especially interested in closing the gap between learning algorithms and reliable deployment on real robots.
Selected Projects
InternManip
Robot LearningA unified training and evaluation framework spanning ACT, Diffusion Policy, Pi0, and GR00T-N1/N1.5 across GenManip-v1, CALVIN, and SimplerEnv.
NeuralMetric
Autonomous DrivingA Transformer-based safety metric that learns context-dependent collision risk from trajectories, reaching state-of-the-art accuracy with 2 ms GPU inference and a 100–1000× speedup over prior methods.
Large Reward Models for Robotic Manipulation
Reward ModelingA trajectory-level reward and value model trained from 100K+ human-teleoperation episodes, enabling failure detection, data quality control, and improved VLA optimization.
Real-World Online RL for Humanoid Robots
Reinforcement LearningAn asynchronous real-world RL pipeline with safe exploration, experience replay, policy updates, evaluation, recovery, and long-duration training support.
Experience
World Models & Real-World RL
Developed learning and systems infrastructure for embodied robotic manipulation, including stereo representation learning, low-latency closed-loop action execution, and safety support for long-running hardware experiments.
Reward Modeling for Manipulation
Built large-scale teleoperation data and reward-modeling pipelines, improving VLA task success by about 30% over behavior cloning.
Unified Robot Learning
Co-developed InternManip and co-organized the IROS 2025 Multimodal Robot Learning Challenge in simulation and the real world.
Autonomous-Driving Safety
Developed NeuralMetric, published in Transportation Research Part A in 2026.
Education
University of Michigan
M.S. in Robotics · Expected Dec 2026
B.S. in Computer Science and Engineering · 2025
GPA 3.90/4.00 · Summa Cum Laude · Jackson and Muriel Lum Undergraduate Scholarship
Shanghai Jiao Tong University
B.S. in Electrical and Computer Engineering · 2025
GPA 3.81/4.00 · Distinguished Graduate · Undergraduate Outstanding Scholarship
Contact
I am happy to connect about robot learning, world models, real-world reinforcement learning, and research collaborations.