Jiangran Lyu

Jiangran Lyu | 吕江燃

I am a Ph.D. student at School of Computer Science, Peking University, where I am honored to be advised by Prof. Yizhou Wang and co-advised by Prof. He Wang.

My research interests span Robotics, 3D Vision and Machine Learning. My research objective is to endow embodied agents working in complex real-world scenes with generalizable manipulation, navigation and control capabilities.

Email / Github

News

NEW [2024/12] Invited talk at TechBeat .

Publications

*: joint first author; † corresponding author(s)

	RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Charlie Cheng, Haozhe Lou, Peihao Li, Yen-Jen Wang, Yutong Liang, Dylan Goetting, Chaoyi Xu, Haozhe Chen, Yuxi Qian, Yiran Geng, Jiageng Mao, Weikang Wan, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Carlo Sferrazza, Hao Dong, Siyuan Huang, Koushil Sreenath, Yue Wang, Jitendra Malik, Pieter Abbeel Robotics: Science and Systems (RSS), 2025 arXiv / project page / document / code
	DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation Jiangran Lyu, Ziming Li, Xuesong Shi, Chaoyi Xu, Yizhou Wang^†, He Wang^† arXiv 2025 arXiv / project page This work propose Dynamics-Adaptive World Action Model (DyWA) , a novel framework that enhances action learning by jointly predicting future states while adapting to dynamics variations based on historical trajectories.
	RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments Yuxing Chen, Songlin Wei, Bowen Xiao, Jiangran Lyu, Jiayi Chen, Feng Zhu, He Wang^† arXiv 2024 arXiv / project page This work explores robotic hanger insertion with a focus on diverse garments, leveraging a novel learning-based approach.
	ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang^†, He Wang^† Conference on Robot Learning (CoRL), 2024 Data Generation for Robotics@RSS, 2024 arXiv / project page / code We propose the first learning-based robotic paper cutting system. Experimental results demonstrate that our method achives performance comparable to human operation with a single hand under the same conditions.
	Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution Yingda Yin, Jiangran Lyu, Yang Wang, Haoran Liu, He Wang^†, Baoquan Chen^†, IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2025 arXiv / project page / code We propose a novel Rotation Laplace distribution for probabilistic rotation estimation. Rotation Laplace distribution is robust to the disturbance of outliers and enforces much gradient to the low-error region, resulting in new state-of-the-art performance over both probabilistic and non-probabilistic baselines.
	Discovering Visual Co-occurrence for Fine-grained Image Retrieval Shijie Wang, Haojie Li^†, Jiangran Lyu, Qi Tian, IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), Under Review arXiv / project page / code We propose a novel Visual Co-occurrence Discovery Network (VCDN) to discover semantic co-occurring relationships within objects and facilitate the inference of their compositional structures.

Experience

	Peking University Ph.D. student in Computer Science Advisor: Prof. Yizhou Wang and Prof. He Wang 2023.9 - Present
	Dalian University of Technology B.E. from School of Software 2019.9 - 2023.7 Grades: 94.10 (Rank 1/119)

Awards & Honors

2021 China National Scholarships
2020 & 2022 DLUT Toly Scholarships
2023 PKU Hongcai Scholarships

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