Yi-Lin Wei

Yi-Lin Wei | 卫奕霖

I am a Ph.D. student in computer science at iSEE Lab, advised by Prof. Wei-Shi Zheng. Before that, I obtained my M.S. in control science and engineering from Southeast University advised by Prof. Dan Niu. And I obotained B.S. in automation from Northeastern University.

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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.

News

[2026-05] One paper released on arXiv.
[2026-04] One paper accepted in RSS 2026.
[2026-02] Two papers accepted in CVPR 2026.
[2026-01] One paper accepted in ICRA 2026.
[2025-12] One paper accepted in Neurocomputing.
[2025-11] One paper accepted in AAAI 2026.
[2025-08] One paper accepted in CoRL 2025.
[2025-06] One paper accepted in IROS 2025.
[2025-06] Three papers accepted in ICCV 2025.
[2025-02] One paper accepted in CVPR 2025.
[2024-09] One paper accepted in NeurIPS 2025.
[2024-09] One paper accepted in CoRL 2025.
[2024-07] One paper accepted in ECCV 2024.
[2024-02] Two papers accepted in CVPR 2024.

Selected Publications

In the following, I completed the highlight papers as a core contributor.

	Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum Zhizhao Liang, Yi-Lin Wei, Xuhang Chen, Mu Lin, Yi-Xiang He, Zhexi Luo, Jun-Hui Liu, Kun-Yu Lin, Wei-Shi Zheng† arXiv*, 2026 arXiv page / project page A generalizable humanoid loco-manipulation framework that combines Active Spatial Brain for spatial perception and planning with Generalizable Action Cerebellum for executable whole-body robot actions.
	DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping Yuliang Wu, Yanhan Lin, WengKit Lao, Yuhao Lin, Yi-Lin Wei, Wei-Shi Zheng, Ancong Wu† RSS, 2026 arXiv page / project page A morphology-aligned graph convolutional policy that learns universal dexterous grasping from diverse embodiments, enabling zero-shot transfer to unseen robot hands with 85% success rate.
	BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes Mu Lin, Yi-Lin Wei, Jiaxuan Chen, Yuhao Lin, Shuoyu Chen, Jiangran Lyu, Jiayi Chen, Yansong Tang, He Wang, Wei-Shi Zheng† Arxiv, 2026 Project Page / Arxiv / Code and Dataset(coming soon) A large-scale bimanual dexterous grasping dataset and a geometry-size-adaptive grasping generation model.
	ReViP: Mitigating False Completion in Vision-Language-Action Models with Vision-Proprioception Rebalance Zhuohao Li, Yinghao Li, Jian-Jian Jiang, Lang Zhou, Tianyu Zhang, Jiadong Yin, Mu Lin, Yi-Lin Wei, Wei-Shi Zheng Arxiv, 2026 arXiv page / project page Mitigating false task completion in VLA models by rebalancing vision and proprioception signals.
	CycleManip: Enabling Cycle-based Manipulation via Effective History Perception and Understanding Yi-Lin Wei, Haoran Liao, Yuhao Lin, Pengyue Wang, Zhizhao Liang, Guiliang Liu, Wei-Shi Zheng CVPR 2026 Highlight arXiv page / project page / code Achieving cyclic manipulation tasks in an end-to-end imitation manner, without relying on auxiliary models or incurring heavy computational overhead.
	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 ICRA, 2026 arXiv page / project page / code A generalizable dexterous framework that achieves omni-capabilities in user prompting, dexterous embodiment, and grasping tasks.
	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.
	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.
	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.
	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
	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.
	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.
	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.

Academic Services

Conference Reviewer: CVPR 2025-2026, NeurIPS 2024-2025, ICLR 2025-2026, ICML 2025-2026, ICCV 2025, ECCV 2026, CoRL 2025, IROS 2026.

Journal Reviewer: RA-L.