Yi-Lin Wei

Yi-Lin Wei | 卫奕霖

I am a third-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.

Email / Google Scholar / Github

Research

I'm interested in robotics AI, specially in dexterous grasp and manipulation. Additionally, I maintain a strong interest in and active engagement with humanoid robotics, MLLM-driven manipulation and dexterous hand hardware.

	OmniDexGrasp: Generalizable Dexterous Grasping via Foundation Model and Force Feedback Yi-Lin Wei, Zhexi Luo, Yuhao Lin, Mu Lin, Zhizhao Liang, Shuoyu Chen, Wei-Shi Zheng under review, 2025 arXiv page / project page / code A generalizable dexterous framework that achieves omni-capabilities in user prompting, dexterous embodiment, and grasping tasks.
	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 ICCV, 2025 arXiv page / project page / code Open-Set Language-guided dexterous grasp based on generalizable-instructive Affordance.
	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.
	TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin, Mu Lin, Chengyi Xing, Hao Li, Dandan Zhang, Mark Cutkosky, Wei-Shi Zheng CoRL, 2025 arXiv page / project page / code A novel task enables robots to perform dexterous grasping based on human commands.
	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.
	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, IROS, 2025 arXiv page / Project page A wearable FBG-Based tactile sensor which can transfered form human to robot.
	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
	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 A novel task of generating human grasps based on single-view scene point clouds.
	iManip: Skill-Incremental Learning for Robotic Manipulation Zexin Zheng, Jia-Feng Cai Xiao-Ming Wu, Yi-Lin Wei, Yu-Ming Tang, Wei-Shi Zheng# ICCV, 2025 arXiv page Endow the robots with the ability to learn new manipulation skills based on the previous learned knowledge without re-training.
	Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework. Jian-Jian Jiang, Xiao-Ming Wu, Yi-Xiang He, Liang-An Zeng, Yi-Lin Wei, Dandan Zhang, Wei-Shi Zheng ICCV, 2025 arXiv page A decoupled interaction framework that categorizes bimanual manipulation tasks into non-collaborative and collaborative types, and performs both effectively.
	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 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.
	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.

Academic Services

Reviewer for CVPR 2025, ICCV 2025, NeurIPS 2024/2025, ICML 2025, ICLR 2025/2026.

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