Tianyu Wang | 王天宇

I am currently a second-year Ph.D. student majoring in Statistics at School of Data Science, Fudan University & Shanghai Innovation Institute (Sii). I am honored to be advised by Prof. Yanwei Fu and Prof. Shouyan Wang. Previously, I received the Bachelor's degree (June 2022) in Software Engineering from Nanjing University of Information Science and Technology (NUIST), under the supervision of Prof. Xiaolong Xu.

My research interests span Embodied Intelligence and Computational Neuroscience, e.g., robotic manipulation based on 3D computer vision, unified modeling of cognition and behavior. At present, I devote to enhancing the robotic perception capabilities through 3D reconstruction.

In recent years, I would like to thank Dr. Haitao Lin and Dr. Xuelin Qian for their support during my research, as well as my co-workers.
Email: wangty25@m.fudan.edu.cn

News

[2025/08] 🎉 FastUMI gets accepted to CoRL 2025.
[2025/02] 🎉 Two papers get accepted to CVPR 2025.
[2025/02] We won the third prize in the first Global Lerobot Embodied Intelligence Hackathon.
[2025/01] 🎉 One paper gets accepted to ICRA 2025.
[2024/10] Excited to announce ⚡️Fast-UMI, a scalable and hardware-independent universal manipulation interface (Open Source Project).
[2024/09] 🎉 One paper gets accepted to CoRL 2024.
[2024/08] I have joined the Shanghai AI Lab as an Embodied AI Intern, aiming to conduct research on learning for manipulation, under the guidance of Dr. Yan Ding. Looking forward to this new journey! [Project completed in 2024/11]
[2024/06] 🎉 One paper gets accepted to IROS 2024.
[2023/12] I have joined the Shanghai Computer Society.
[2023/06] I started my research on interactive general robotic grasping in collaboration with Dr. Shuang Wu from Huawei Noah's Ark Lab, and I am grateful for some of his guidance. [Project completed in 2024/06]

Research

* denotes equal contribution

RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base

Kuanning Wang, Yuqian Fu, Tianyu Wang, Yanwei Fu, Longfei Liang, Yu-Gang Jiang, Xiangyang Xue
IROS 2025
Webpage • Paper • Code

HOP: Heterogeneous Topology-based Multimodal Entanglement for Co-Speech Gesture Generation

Hongye Cheng^*, Tianyu Wang^*, Guangsi Shi, Zexing Zhao, Yanwei Fu
CVPR 2025
Webpage • Paper • Code

CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Image

Jingshun Huang^*, Haitao Lin^*, Tianyu Wang, Yanwei Fu, Xiangyang Xue, Yi Zhu
CVPR 2025 (Highlight)
Webpage • Paper • Code

You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Grasping

Jingshun Huang, Haitao Lin, Tianyu Wang, Yanwei Fu, Yu-Gang Jiang, Xiangyang Xue
ICRA 2025
Webpage • Paper • Code

TaMMa: Target-driven Multi-subscene Mobile Manipulation

Jiawei Hou^*, Tianyu Wang^*, Tongying Pan^*, Shouyan Wang, Xiangyang Xue, Yanwei Fu
CoRL 2024
Webpage • Paper • Code

Fast-UMI: A Scalable and Hardware-Independent Universal Manipulation Interface

Ziniu Wu^*, Tianyu Wang^*, Zhaxizhuoma^*, Chuyue Guan, Zhongjie Jia, Dong Wang, Nieqing Cao, Yan Ding, Bin Zhao, Xuelong Li
Pre-print 2024
Webpage • Paper • Supplementary (released) • Code

Polaris: Open-ended Interactive Robotic Manipulation via Syn2Real Visual Grounding and Large Language Models

Tianyu Wang, Haitao Lin, Junqiu Yu, Yanwei Fu
IROS 2024 (Oral Pitch)
Webpage • Paper • Code

WALL-E: Embodied Robotic WAiter Load Lifting with Large Language Models

Tianyu Wang, Yifan Li, Haitao Lin, Jingshun Huang, Xiangyang Xue, Yanwei Fu
Pre-print 2023
Webpage • Paper • Code

UAV deployment with grid modeling and adaptive multiple pruning search in complex forest scenarios

Tianyu Wang, Wei Gu
Wireless Networks 2021
Paper

Projects

TeaBot

TeaBot backed by LeRobot: The core action sequence of making tea, including pouring tea leaves, adding water, and stirring, is attempted using a general robotic arm.
Third prize in the first Global Lerobot Embodied Intelligence Hackathon, hosted by Seeed Studio - 2025

Experience

Programme Advisor: Dr. Li Peng

Nanjing University of Information Science and Technology (NUIST)

2018.09 - 2022.06 • Undergraduate student

GPA ranking: 2/163

Research Advisor: Prof. Xiaolong Xu

Selected Awards and Honors

2021: National Scholarship (Highest Honor for Undergraduates in China, 8000RMB¥)
2021: President Scholarship (Highest Honor for Undergraduates in NUIST, 10000RMB¥)
2021: Outstanding Students of Jiangsu Province, China
2021: First Prize in the National Finals of the China College Student Service Outsourcing Innovation and Entrepreneurship Competition
2020: National Scholarship (Highest Honor for Undergraduates in China, 8000RMB¥)
2020: President Scholarship (Highest Honor for Undergraduates in NUIST, 10000RMB¥)
2020: Silver Award in the Provincial Finals of “Internet +” College Students Innovation and Entrepreneurship Competition
2020: Second Prize in Jiangsu Provincial College Student Robot Competition

News

Research

* denotes equal contribution

Projects

Experience

Fudan University (FDU)

Shanghai Innovation Institute (Sii)

ONESTAR Robotics

Shanghai AI Laboratory

YOFO Robot

University of Cambridge

Nanjing University of Information Science and Technology (NUIST)

Selected Awards and Honors