Alex Z. Yin

CS PhD @ UC Berkeley EECS

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Alex Zhao-Heng Yin

I am a CS Ph.D. student at BAIR, UC Berkeley.
I research robotics and AI.

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Make Robots Work

We explore new ideas for creating intelligent robotic systems that learn to serve and enhance human lives. We value the elegance of intelligence and are driven by the excitement of tackling the most complex challenges.

Selected Publications

Dexterity Gen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Hogan, Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
Tech Report 2025
Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
Zhao-Heng Yin, Changhao Wang, Luis Pineda, Krishna Bodduluri, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam.
Tech Report 2025
Offline Imitation Learning through Graph Search and Retrieval
Zhao-Heng Yin, Pieter Abbeel
Robotics: Science and Systems (RSS) 2024
Twisting Lids off with Two Hands
Toru Lin*, Zhao-Heng Yin*, Haozhi Qi, Pieter Abbeel, Jitendra Malik
Conference on Robot Learning (CoRL) 2024
Rotating without Seeing: Towards In-hand Dexterity through Touch
Zhao-Heng Yin*, Binghao Huang*, Yuzhe Qin, Qifeng Chen, Xiaolong Wang
Robotics: Science and Systems (RSS) 2023
Spatial Generalization of Visual Imitation Learning with Position-Invariant Regularization
Zhao-Heng Yin, Yang Gao, Qifeng Chen
Robotics: Science and Systems (RSS) Workshop 2023
Planning for Sample Efficient Imitation Learning
Zhao-Heng Yin, Weirui Ye, Qifeng Chen, Yang Gao
Neural Information Processing Systems (NeurIPS) 2022
Cross Domain Robot Imitation with Invariant Representation
Zhao-Heng Yin, Lingfeng Sun, Hengbo Ma, Masayoshi Tomizuka, Wu-Jun Li
International Conference on Robotics and Automation (ICRA) 2022
Diverse Critical Interaction Generation for Planning and Planner Evaluation
Zhao-Heng Yin*, Lingfeng Sun*, Liting Sun, Masayoshi Tomizuka, Wei Zhan
International Conference on Intelligent Robots and Systems (IROS) 2021
TOMA: Topological Map Abstraction for Reinforcement Learning
Zhao-Heng Yin, Wu-Jun Li
Tech Report 2020

Biography

Nanjing - Hong Kong - San Francisco

- B.S. CS, Mathematics. Nanjing University.

- M.Phil. EE. HKUST Robotics Institute.

- Ph.D. CS. UC Berkeley EECS.


I am advised by Pieter Abbeel.

E-mail: zhaohengyin (at) cs.berkeley.edu