Luo, Zhengyi

20 publications

ICLR 2026 BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning Yitang Li, Zhengyi Luo, Tonghe Zhang, Cunxi Dai, Anssi Kanervisto, Andrea Tirinzoni, Haoyang Weng, Kris Kitani, Mateusz Guzek, Ahmed Touati, Alessandro Lazaric, Matteo Pirotta, Guanya Shi

ICLR 2026 Self-Improving Vision-Language-Action Models with Data Generation via Residual RL Wenli Xiao, Haotian Lin, Andy Peng, Haoru Xue, Tairan He, Zhengyi Luo, Yuqi Xie, Fengyuan Hu, Linxi Fan, Guanya Shi, Yuke Zhu

ICLR 2025 CLoSD: Closing the Loop Between Simulation and Diffusion for Multi-Task Character Control Guy Tevet, Sigal Raab, Setareh Cohan, Daniele Reda, Zhengyi Luo, Xue Bin Peng, Amit Haim Bermano, Michiel van de Panne

ICLRW 2025 Scalable Humanoid Whole-Body Control via Differentiable Neural Network Dynamics Yu Lei, Zhengyi Luo, Tairan He, Jinkun Cao, Guanya Shi, Kris Kitani

CVPR 2025 SkillMimic: Learning Basketball Interaction Skills from Demonstrations Yinhuai Wang, Qihan Zhao, Runyi Yu, Hok Wai Tsui, Ailing Zeng, Jing Lin, Zhengyi Luo, Jiwen Yu, Xiu Li, Qifeng Chen, Jian Zhang, Lei Zhang, Ping Tan

ICCV 2025 UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control Yan Wu, Korrawe Karunratanakul, Zhengyi Luo, Siyu Tang

CVPR 2024 Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives Kristen Grauman, Andrew Westbury, Lorenzo Torresani, Kris Kitani, Jitendra Malik, Triantafyllos Afouras, Kumar Ashutosh, Vijay Baiyya, Siddhant Bansal, Bikram Boote, Eugene Byrne, Zach Chavis, Joya Chen, Feng Cheng, Fu-Jen Chu, Sean Crane, Avijit Dasgupta, Jing Dong, Maria Escobar, Cristhian Forigua, Abrham Gebreselasie, Sanjay Haresh, Jing Huang, Md Mohaiminul Islam, Suyog Jain, Rawal Khirodkar, Devansh Kukreja, Kevin J Liang, Jia-Wei Liu, Sagnik Majumder, Yongsen Mao, Miguel Martin, Effrosyni Mavroudi, Tushar Nagarajan, Francesco Ragusa, Santhosh Kumar Ramakrishnan, Luigi Seminara, Arjun Somayazulu, Yale Song, Shan Su, Zihui Xue, Edward Zhang, Jinxu Zhang, Angela Castillo, Changan Chen, Xinzhu Fu, Ryosuke Furuta, Cristina Gonzalez, Prince Gupta, Jiabo Hu, Yifei Huang, Yiming Huang, Weslie Khoo, Anush Kumar, Robert Kuo, Sach Lakhavani, Miao Liu, Mi Luo, Zhengyi Luo, Brighid Meredith, Austin Miller, Oluwatumininu Oguntola, Xiaqing Pan, Penny Peng, Shraman Pramanick, Merey Ramazanova, Fiona Ryan, Wei Shan, Kiran Somasundaram, Chenan Song, Audrey Southerland, Masatoshi Tateno, Huiyu Wang, Yuchen Wang, Takuma Yagi, Mingfei Yan, Xitong Yang, Zecheng Yu, Shengxin Cindy Zha, Chen Zhao, Ziwei Zhao, Zhifan Zhu, Jeff Zhuo, Pablo Arbelaez, Gedas Bertasius, Dima Damen, Jakob Engel, Giovanni Maria Farinella, Antonino Furnari, Bernard Ghanem, Judy Hoffman, C.V. Jawahar, Richard Newcombe, Hyun Soo Park, James M. Rehg, Yoichi Sato, Manolis Savva, Jianbo Shi, Mike Zheng Shou, Michael Wray

NeurIPS 2024 Harmony4D: A Video Dataset for In-the-Wild Close Human Interactions Rawal Khirodkar, Jyun-Ting Song, Jinkun Cao, Zhengyi Luo, Kris Kitani

CoRL 2024 OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris M. Kitani, Changliu Liu, Guanya Shi

NeurIPS 2024 Omnigrasp: Grasping Diverse Objects with Simulated Humanoids Zhengyi Luo, Jinkun Cao, Sammy Christen, Alexander Winkler, Kris Kitani, Weipeng Xu

CVPR 2024 PACER+: On-Demand Pedestrian Animation Controller in Driving Scenarios Jingbo Wang, Zhengyi Luo, Ye Yuan, Yixuan Li, Bo Dai

CVPR 2024 Real-Time Simulated Avatar from Head-Mounted Sensors Zhengyi Luo, Jinkun Cao, Rawal Khirodkar, Alexander Winkler, Kris Kitani, Weipeng Xu

ICLR 2024 Universal Humanoid Motion Representations for Physics-Based Control Zhengyi Luo, Jinkun Cao, Josh Merel, Alexander Winkler, Jing Huang, Kris M. Kitani, Weipeng Xu

ICCV 2023 Learning Human Dynamics in Autonomous Driving Scenarios Jingbo Wang, Ye Yuan, Zhengyi Luo, Kevin Xie, Dahua Lin, Umar Iqbal, Sanja Fidler, Sameh Khamis

ICCV 2023 Perpetual Humanoid Control for Real-Time Simulated Avatars Zhengyi Luo, Jinkun Cao, AlexanderWinkler, Kris Kitani, Weipeng Xu

CVPR 2023 Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion Davis Rempe, Zhengyi Luo, Xue Bin Peng, Ye Yuan, Kris Kitani, Karsten Kreis, Sanja Fidler, Or Litany

NeurIPS 2022 Embodied Scene-Aware Human Pose Estimation Zhengyi Luo, Shun Iwase, Ye Yuan, Kris Kitani

ICLR 2022 Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, Kris M. Kitani

NeurIPS 2021 Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation Zhengyi Luo, Ryo Hachiuma, Ye Yuan, Kris Kitani

ICML 2019 Cross-Domain 3D Equivariant Image Embeddings Carlos Esteves, Avneesh Sud, Zhengyi Luo, Kostas Daniilidis, Ameesh Makadia