CoRL 2026
RPL: Learning Robust Humanoid Perceptive Locomotion over Challenging Terrains
A unified multi-depth policy for humanoid locomotion across slopes, stairs, and stepping stones, with varied movement directions and payloads.
Yifu Yuan
Solution Architect, RoboticsNVIDIA
I’m a solution architect at NVIDIA working on Physical AI & Robotics. I help bring NVIDIA’s advanced robotics technologies into real-world applications.
I received my master’s degree from Carnegie Mellon University’s Robotics Institute, where I worked on robot learning and humanoid systems.
I’m always happy to connect, exchange ideas, or grab a coffee. Feel free to reach out!
Publications
RSS 2026
RIO: Flexible Real-time Robot I/O for Cross-Embodiment Robot Learning
An open-source Python library with a unified interface for robot control, teleoperation, data collection, and policy deployment across embodiments.
L4DC 2026 · Oral
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
A dual-agent, force-adaptive reinforcement learning framework for heavy-duty humanoid loco-manipulation tasks.
Selected projects
CMU MRSD capstone 2025
Humanoid manipulation in the real world
Built perception and autonomy for tote logistics on the Unitree G1, then developed VLA-based manipulation with GR00T, asynchronous inference, and teleoperation infrastructure.
Advised by Guanya Shi · Sponsored by Nissan & Field AI
CMU course project 2025
Block pushing with Diffusion Policy
Trained and deployed a manipulation policy using RGB-D and robot state inputs on a Franka Panda. Collected demonstrations with a MoveIt-based controller and human-in-the-loop guidance.
WPI capstone 2024
Perceptive locomotion with precise foot placement
Combined real-time terrain mapping, nonlinear model predictive control, and whole-body control to help a Unitree Go1 navigate challenging, uneven surfaces.
Advised by Mahdi Agheli · ALMaS Group
WPI Research Project 2024
Humanoid Robot - Upper Torso
Designed a compliant robot torso with 3D-printed TPU discs and a parallel-manipulator actuation system for three-degree-of-freedom rotation.
Show all projects 7 more
WPI Research Project 2024
Portable EEG Device for Auditory Closed-Loop Stimulation Study
Built a portable single-channel EEG device with a custom Bluetooth-enabled PCB and 3D-printed enclosure for closed-loop audio stimulation and overnight sleep recording.
WPI Research Project 2024
Deep Learning Model for Sleep Stage Scoring based on Raw Single-Channel EEG
Developed a deep learning model that extracts time-invariant features from raw single-channel EEG for sleep-stage scoring.
WPI Course Project 2023
Dynamical Modeling of Serial Arm Robot
Modeled an ABB IRB 910 with Newton–Euler and Lagrangian formulations, implementing gravity compensation and torque-based control in MATLAB.
WPI Course Project 2023
Autonomous Path Planning and Navigation Robot
Built a TurtleBot navigation system with G-mapping, AMCL, A* and RRT planning, and Kalman-filter relocalization in ROS.
WPI Course Project 2022
Vision Based 3‐DoF Manipulator
Built vision-guided object sorting with forward and inverse kinematics, smooth trajectories, and YOLOv5 and HSV-based perception.
WPI Course Project 2022
IR Based Mapping Robot
WPI Course Project 2021
Autonomous Solar Panel Delivery Robot
Education
Carnegie Mellon University
M.S. in Robotics Systems Development
2024–2026
Worcester Polytechnic Institute
B.S. in Robotics Engineering
B.S. in Computer Science