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Yi-Lin Wei | 卫奕霖 I am a second-year Ph.D. student in computer science at Sun Yat-Sen University, at iSEE Lab, advised by Prof. Wei-Shi Zheng. Before that, I obtained my M.S. in control science and engineering from Sortheast University advised by Prof. Dan Niu. And I obotained B.S. in automation from Northeastern University. |
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ResearchI'm interested in robotics AI, specially computer vision driven dexterous grasp and manipulation. I am always open to academic discussions and potential collaborations. Please feel free to reach out! |
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AffordDexGrasp: Open-set Language-guided Dexterous Grasp with Generalizable-Instructive Affordance
Yi-Lin Wei*, Mu Lin*, Yuhao Lin, Jian-Jian Jiang, Xiao-Ming Wu, Liang-An Zeng, Wei-Shi Zheng arXiv, 2025 arXiv page / Project page (coming soon) / Code (coming soon) Open-Set Language-guided dexterous grasp based on generalizable-instructive Affordance. |
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Grasp as You Say: Language-guided Dexterous Grasp Generation
Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing, Xian-Tuo Tan, Xiao-Ming Wu, Hao Li, Mark Cutkosky, Wei-Shi Zheng NeurIPS, 2024 arXiv page / project page / code A novel task enables robots to perform dexterous grasping based on human commands. |
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Dexterous Grasp Tranformer
Guohao Xu*, Yi-Lin Wei*, Dian Zheng, Xiao-Ming Wu, Wei-Shi Zheng CVPR, 2024 arXiv page / project page / code A novel discriminative framework for dexterous grasp generation by formulating it as a set prediction task. |
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TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing*, Hao Li*, Yi-Lin Wei, Tian-Ao Ren, Tianyu Tu, Yuhao Lin, Elizabeth Schumann, Wei-Shi Zheng, Mark Cutkosky, arXiv, 2025 arXiv page / Project page (coming soon) / Code (coming soon) A wearable FBG-Based tactile sensor which can transfered form human to robot. |
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ChainHOI: Joint-based Kinematic Chain Modeling for Human-Object Interaction Generation
Liang-An Zeng*, Guo-Hong Huang*, Yi-Lin Wei, Shengbo Gu, Yu-Ming Tang, Jingke Meng#, Wei-Shi Zheng# CVPR, 2025 arXiv page Human-Object interaction generation by joint-based kinematic chain modeling |
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iManip: Skill-Incremental Learning for Robotic Manipulation
Zexin Zheng, Jia-Feng Cai Xiao-Ming Wu, Yi-Lin Wei, Yu-Ming Tang, Wei-Shi Zheng# arXiv, 2025 arXiv page Endow the robots with the ability to learn new manipulation skills based on the previous learned knowledge without re-training. |
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Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection
Jia-Feng Cai , Zi-Bo Chen, Xiao-Ming Wu, Jian-Jian Jiang, Yi-Lin Wei, Wei-Shi Zheng CoRL, 2024 paper page / project page / code A new Real-to-Sim framework for 6-DoF Grasp detection, with the key insight of bridging sim-to-real gap in a real-to-sim way. |
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An Economic Framework for 6-DoF Grasp Detection
Xiao-Ming Wu*, Jia-Feng Cai*, Jian-Jian Jiang Dian Zheng, Yi-Lin Wei, Wei-Shi Zheng ECCV, 2024 arXiv page / code A new economic grasping framework for 6-DoF grasp detection to economize the training resource cost and meanwhile maintain effective grasp performance. |
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Single-view Scene Point Cloud Human Grasp Generation
Yan-Kang Wang, Chengyi Xing, Yi-Lin Wei, Xiao-Ming Wu, Wei-Shi Zheng CVPR, 2024 arXiv page / code A novel task of generating human grasps based on single-view scene point clouds. |
Academic ServicesReviewer for CVPR 2025, ICCV 2025, NeurIPS 2024/2025, ICML 2025, ICLR 2024. |
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