My name is Chao Yu（于超）. I received my Ph.D. from the Department of Electronic Engineering at Tsinghua University in 2023. I am currently an Assistant Professor (Distinguished Research Fellow) at the Embodied Decision Intelligence Lab (EDI Lab) at Tsinghua Shenzhen International Graduate School (SIGS). I also serve as the chairman of the Tsinghua Shenzhen International Graduate School - AgiBot Joint Research Center for Embodied Cognition and Decision Systems (JCES) 清华-智元联合研究中⼼主任. I’m also the co-founder of Striding AI(正行创新). I have been selected for the Youth Talent Support Program of the Chinese Institute of Electronics. My research has long focused on reinforcement learning–based decision intelligence. As first author or corresponding author, I have published more than 50 papers in top-tier international conferences and journals, including ICML, NeurIPS, ICLR, CVPR, ECCV, CoRL, IROS, ICRA, TMLR, and RAL, with over 7,000 citations on Google Scholar. My representative works include the multi-agent reinforcement learning algorithm MAPPO, which has received more than 4,000 Google Scholar citations, and RLinf, a large-scale reinforcement learning training framework for embodied intelligence, which has accumulated over 4,000 GitHub stars.

Feel free to reach out if you’d like to discuss research or explore potential collaboration!

📃 Research Interest

RL Infra

My Technical Preference: Scalable reinforcement learning systems, training infrastructure, and system-algorithm co-design for large-scale policy optimization.
Representative works on RL Infra include: RLinf and etc. covering efficient RL training, real-world online policy learning, and VLA+RL system design.

Strategic Agent

My Research Focus: multi-agent RL, strategic reasoning, self-play, cooperation/competition, and language agents.
Representative works include MAPPO, Fictitious Cross-Play, MARSHAL, WideSeek-R1, Werewolf game etc.

Embodied Agent

My Application Interest: embodied intelligence with quadrupeds, drones, multi-robot systems, VLA models, and world-model-based robotic training.
Representative works include WoVR, πRL, World4RL, RoboScape-R, VolleyBots, FlightBench, OmniDrones, and etc.

🏫 Educations

2019 - 2023: Department of Electronic Engineering, Tsinghua University.
  Ph.D. in Electronic Science and Technology.
  Outstanding Doctoral Graduate (Top 5%), Outstanding Doctoral Thesis (Top 10%).
  Advisor: Prof. Yu Wang; Co-advisor: Assistant Prof. Yi Wu.
2016 - 2019: Department of Mechanical Engineering, Tsinghua University.
  M.S. in Mechanical Engineering and Automation.
  Outstanding Master’s Thesis (Top 10%).
  Advisor: Prof. Xin-Jun Liu.
2012 - 2016: School of Automation, Beijing Institute of Technology.
B.S. in Automation.
Outstanding Graduate (Top 15%).

📃 Publications

NSDI 2027

FUSCO: High-Performance Distributed Data Shuffling via Transformation-Communication Fusion

Zhuoran Zhu, Chunyang Zhu, Hao Lin, Xu Fu, Yiming Zhou, Quanlu Zhang, Zhenhua Li, Feng Qian, Chao Yu, Boxun Li, Guohao Dai, Yu Wang

24th USENIX Symposium on Networked Systems Design and Implementation (NSDI 2027)

Paper

RA-L 2026

Human-Guided Online Reward Adaptation Overview

Human-Guided Online Reward Adaptation for Real-Robot Arm Manipulation

Tianxing Zhou, Haojia Ao, Haoyang Lu, Guangyan Chen, Zichen Zhou, Te Cui, Chao Yu, Yufeng Yue📧

IEEE Robotics and Automation Letters (RA-L 2026)

RA-L 2025

What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study

Jiayu Chen⭐️, Chao Yu⭐️📧, Yuqing Xie, Feng Gao, Yinuo Chen, Shu'ang Yu, Wenhao Tang, Shilong Ji, Mo Mu, Yi Wu, Huazhong Yang, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2025)

Paper

RLC 2026

ICPL: Few-shot In-Context Preference Learning via LLMs

Chao Yu⭐️, Qixin Tan⭐️, Hong Lu, Jiaxuan Gao, Xinting Yang, Yu Wang, Yi Wu, Eugene Vinitsky📧

Reinforcement Learning Conference (RLC 2026)

Paper

OSDI 2026

DynaRL: Flexible and Dynamic Scheduling of Large-Scale Reinforcement Learning Training

Yuanqing Wang, Hao Lin, Junhao Hu, Chunyang Zhu, Quanlu Zhang, Zhen Guo, Yuchen Zhang, Xu Fu, Si Xu, Bo Dai, Zixiao Huang, Chao Yu, Boxun Li, Guohao Dai, Zhi Yang, Yu Wang

20th USENIX Symposium on Operating Systems Design and Implementation (OSDI 2026)

Paper

ACM MM 2026

Tex3D: Objects as Attack Surfaces via Adversarial 3D Textures for Vision-Language-Action Models

Jiawei Chen, Simin Huang, Jiawei Du, Shuaihang Chen, Yu Tian, Mingjie Wei, Chao Yu📧, Zhaoxia Yin📧

ACM International Conference on Multimedia (ACM MM 2026)

Paper Project

arXiv 2026

WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL

Zhennan Jiang, Shangqing Zhou, Yutong Jiang, Zefang Huang, Mingjie Wei, Yuhui Chen, Tianxing Zhou, Zhen Guo, Hao Lin, Quanlu Zhang, Yu Wang, Haoran Li📧, Chao Yu📧, Dongbin Zhao

arXiv preprint arXiv:2602.13977 (2026)

Paper

arXiv 2026

Beyond Imitation: Reinforcement Learning-Based Sim-Real Co-Training for VLA Models

Liangzhi Shi⭐️, Shuaihang Chen⭐️, Feng Gao, Yinuo Chen, Kang Chen, Tonghe Zhang, Hongzhi Zang, Weinan Zhang, Chao Yu, Yu Wang

arXiv preprint arXiv:2602.12628 (2026)

Paper

RSS 2026

USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI

Hongzhi Zang⭐️, Shu'ang Yu⭐️, Hao Lin, Tianxing Zhou, Zefang Huang, Zhen Guo, Xin Xu, Jiakai Zhou, Yuze Sheng, Shizhe Zhang, Feng Gao, Wenhao Tang, Yufeng Yue, Quanlu Zhang, Xinlei Chen, Chao Yu📧, Yu Wang📧

Robotics: Science and Systems (RSS 2026)

Paper

arXiv 2026

WideSeek-R1: Exploring Width Scaling for Broad Information Seeking via Multi-Agent Reinforcement Learning

Zelai Xu⭐️, Zhexuan Xu⭐️, Ruize Zhang⭐️, Chunyang Zhu, Shi Yu, Weilin Liu, Quanlu Zhang, Wenbo Ding, Chao Yu📧, Yu Wang📧

arXiv preprint (2026)

Paper

CVPR 2026

RoboScape-R: Unified Reward-Observation World Models for Generalizable Robotics Training via RL

Yinzhou Tang, Yu Shang, Yinuo Chen, Bingwen Wei, Xin Zhang, Shu'ang Yu, Liangzhi Shi, Chao Yu, Chen Gao, Wei Wu, Yong Li

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026), Findings

Paper

ACL 2025

Red Teaming Large Reasoning Models

Jiawei Chen⭐️, Yang Yang⭐️, Chao Yu⭐️, Yu Tian, Zhi Cao, Xue Yang, Linghao Li, Hang Su, Zhaoxia Yin📧

Annual Meeting of the Association for Computational Linguistics (ACL 2025)

Paper

arXiv 2025

πRL: Online RL Fine-tuning for Flow-based Vision-Language-Action Models

Kang Chen⭐️, Zhihao Liu⭐️, Tonghe Zhang⭐️, Zhen Guo, Si Xu, Hao Lin, Hongzhi Zang, Quanlu Zhang, Zhaofei Yu, Guoliang Fan, Tiejun Huang, Yu Wang📧, Chao Yu📧

arXiv preprint arXiv:2510.25889 (2025)

Paper

IROS 2025

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models

Yutao Ouyang, Jinhan Li, Yunfei Li, Zhongyu Li, Chao Yu, Koushil Sreenath, Yi Wu

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Paper

ICLR 2026

MARSHAL: Incentivizing Multi-Agent Reasoning via Self-Play with Strategic LLMs

Huining Yuan⭐️, Zelai Xu⭐️, Zheyue Tan, Xiangmin Yi, Mo Guang, Kaiwen Long, Haojia Hui, Boxun Li, Xinlei Chen, Bo Zhao, Xiao-Ping Zhang📧, Chao Yu📧, Yu Wang📧

International Conference on Learning Representations (ICLR 2026)

Paper

RSS 2026

RLinf-VLA: A Unified and Efficient Framework for Reinforcement Learning of Vision-Language-Action Models

Hongzhi Zang, Mingjie Wei, Si Xu, Yongji Wu, Zhen Guo, Yuanqing Wang, Hao Lin, Liangzhi Shi, Yuqing Xie, Zhexuan Xu, Zhihao Liu, Kang Chen, Wenhao Tang, Quanlu Zhang, Weinan Zhang, Chao Yu📧, Yu Wang📧

Robotics: Science and Systems (RSS 2026)

Paper

ICLR 2026

SAC Flow: Sample-Efficient Reinforcement Learning of Flow-Based Policies via Velocity-Reparameterized Sequential Modeling

Yixian Zhang⭐️, Shu'ang Yu⭐️, Tonghe Zhang, Mo Guang, Haojia Hui, Kaiwen Long, Yu Wang, Chao Yu📧, Wenbo Ding📧

International Conference on Learning Representations (ICLR 2026)

Paper

ICLR 2026

RE-PO: Robust Enhanced Policy Optimization as a General Framework for LLM Alignment

Xiaoyang Cao⭐️, Zelai Xu⭐️, Mo Guang, Kaiwen Long, Michiel A. Bakker, Yu Wang, Chao Yu📧

International Conference on Learning Representations (ICLR 2026)

Paper

ICRA 2026

JuggleRL: Mastering Ball Juggling with a Quadrotor via Deep Reinforcement Learning

Shilong Ji, Yinuo Chen, Chuqi Wang, Jiayu Chen, Ruize Zhang, Feng Gao, Wenhao Tang, Shu'ang Yu, Sirui Xiang, Xinlei Chen, Chao Yu📧, Yu Wang📧

IEEE International Conference on Robotics and Automation (ICRA 2026)

Paper

RA-L 2026

World4RL: Diffusion World Models for Policy Refinement with Reinforcement Learning for Robotic Manipulation

Zhennan Jiang, Kai Liu, Yuxin Qin, Shuai Tian, Yupeng Zheng, Mingcai Zhou, Chao Yu📧, Haoran Li📧, Dongbin Zhao

IEEE Robotics and Automation Letters (RA-L 2026)

Paper

OSDI 2026

RLinf: Flexible and Efficient Large-scale Reinforcement Learning via Macro-to-Micro Flow Transformation

Chao Yu, Yuanqing Wang, Zhen Guo, Hao Lin, Si Xu, Hongzhi Zang, Quanlu Zhang, Yongji Wu, Chunyang Zhu, Junhao Hu, Zixiao Huang, Mingjie Wei, Yuqing Xie, Ke Yang, Bo Dai, Zhexuan Xu, Xiangyuan Wang, Xu Fu, Zhihao Liu, Kang Chen, Weilin Liu, Gang Liu, Boxun Li, Jianlei Yang, Zhi Yang, Guohao Dai, Yu Wang📧

20th USENIX Symposium on Operating Systems Design and Implementation (OSDI 2026)

Paper Code

IROS 2026

D3P: Dynamic Denoising Diffusion Policy via Reinforcement Learning

Shu-Ang Yu, Feng Gao, Yi Wu, Chao Yu📧, Yu Wang📧

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)

Paper

EMNLP 2025 Main

Spec-VLA: Speculative Decoding for Vision-Language-Action Models with Relaxed Acceptance

Songsheng Wang, Rucheng Yu, Zhihang Yuan, Chao Yu, Feng Gao, Yu Wang, Derek F. Wong📧

Conference on Empirical Methods in Natural Language Processing (EMNLP 2025), Main Conference

Paper

RA-L 2025

Online Planning for Multi-UAV Pursuit-Evasion in Unknown Environments Using Deep Reinforcement Learning

Jiayu Chen⭐️, Chao Yu⭐️📧, Guosheng Li, Wenhao Tang, Xinyi Yang, Botian Xu, Huazhong Yang, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2025)

Paper

arXiv 2025

Exploring the Secondary Risks of Large Language Models

Jiawei Chen, Zhengwei Fang, Xiao Yang, Chao Yu, Zhaoxia Yin, Hang Su

arXiv preprint arXiv:2506.12382 (2025)

Paper

CVPR 2026 Oral

VS-Bench: Evaluating VLMs for Strategic Reasoning and Decision-Making in Multi-Agent Environments

Zelai Xu⭐️, Zhexuan Xu⭐️, Xiangmin Yi, Huining Yuan, Xinlei Chen, Yi Wu, Chao Yu📧, Yu Wang📧

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026), Oral

Paper

NeurIPS 2025

What Can RL Bring to VLA Generalization? An Empirical Study

Jijia Liu⭐️, Feng Gao⭐️, Bingwen Wei, Xinlei Chen, Qingmin Liao, Yi Wu, Chao Yu📧, Yu Wang📧

Annual Conference on Neural Information Processing Systems (NeurIPS 2025)

Paper

NeurIPS 2025

ReinFlow: Fine-tuning Flow Matching Policy with Online Reinforcement Learning

Tonghe Zhang, Chao Yu📧, Sichang Su, Yu Wang

Annual Conference on Neural Information Processing Systems (NeurIPS 2025)

Paper

CoRL 2025

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams

Zhi Su⭐️, Yuman Gao⭐️, Emily Lukas, Yunfei Li, Jiaze Cai, Faris Tulbah, Fei Gao, Chao Yu, Zhongyu Li, Yi Wu, Koushil Sreenath

Conference on Robot Learning (CoRL 2025)

Paper

arXiv 2025

Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps

Ningyuan Yang, Jiaxuan Gao, Feng Gao, Yi Wu📧, Chao Yu📧

arXiv preprint arXiv:2505.10482 (2025)

Paper

CoRL 2025

Mastering Multi-Drone Volleyball through Hierarchical Co-Self-Play Reinforcement Learning

Ruize Zhang, Sirui Xiang, Zelai Xu, Feng Gao, Shilong Ji, Wenhao Tang, Wenbo Ding, Chao Yu📧, Yu Wang📧

Conference on Robot Learning (CoRL 2025)

Paper Project

RA-L 2025

Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots

Zongyuan Chen⭐️, Yan Xia⭐️, Jiayuan Liu, Jijia Liu, Wenhao Tang, Jiayu Chen, Feng Gao, Longfei Ma, Hongen Liao, Yu Wang, Chao Yu📧, Boyu Zhang📧, Fei Xing📧

IEEE Robotics and Automation Letters (RA-L 2025)

Paper

CASE 2026

AED: Automatic Discovery of Effective and Diverse Vulnerabilities for Autonomous Driving Policy with Large Language Models

Le Qiu⭐️, Zelai Xu⭐️, Qixin Tan⭐️, Wenhao Tang, Chao Yu📧, Yu Wang📧

IEEE International Conference on Automation Science and Engineering (CASE 2026)

Paper Code

arXiv 2025

Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey

Chuqi Wang⭐️, Chao Yu⭐️📧, Xin Xu, Yuman Gao, Xinyi Yang, Wenhao Tang, Shu'ang Yu, Yinuo Chen, Feng Gao, ZhuoZhu Jian, Xinlei Chen, Fei Gao, Boyu Zhou, Yu Wang📧

arXiv preprint arXiv:2503.07278 (2025)

Paper

ICLR 2026

Translate Policy to Language: Flow Matching Generated Rewards for LLM Explanations

Xinyi Yang, Liang Zeng, Heng Dong, Chao Yu, Xiaoran Wu, Huazhong Yang, Yu Wang, Milind Tambe, Tonghan Wang

International Conference on Learning Representations (ICLR 2026)

Paper

ICML 2025

Learning Strategic Language Agents in the Werewolf Game with Iterative Latent Space Policy Optimization

Zelai Xu⭐️, Wanjun Gu, Chao Yu📧, Yi Wu📧, Yu Wang📧

International Conference on Machine Learning (ICML 2025)

Paper

NeurIPS 2025

VolleyBots: A Testbed for Multi-Drone Volleyball Game Combining Motion Control and Strategic Play

Zelai Xu⭐️, Ruize Zhang⭐️, Chao Yu📧, Huining Yuan, Xiangmin Yi, Shilong Ji, Chuqi Wang, Wenhao Tang, Yu Wang📧

Annual Conference on Neural Information Processing Systems (NeurIPS 2025)

Paper Code Project

ICML 2025

Learning from Suboptimal Data in Continuous Control via Auto-Regressive Soft Q-Network

Jijia Liu, Feng Gao, Qingmin Liao, Chao Yu📧, Yu Wang📧

International Conference on Machine Learning (ICML 2025)

Paper Project

JMLR 2025

Learning Global Nash Equilibrium in Team Competitive Games with Generalized Fictitious Cross-Play

Zelai Xu, Chao Yu📧, Yancheng Liang, Yi Wu, Yu Wang📧

Journal of Machine Learning Research (JMLR 2025), Volume 26

Paper

UbiComp 2024

SleepNetZero: Zero-Burden Zero-Shot Reliable Sleep Staging With Neural Networks Based on Ballistocardiograms

Shuzhen Li⭐️, Yuxin Chen⭐️, Xuesong Chen, Ruiyang Gao, Yupeng Zhang, Chao Yu, Yunfei Li, Ziyi Ye, Weijun Huang, Hongliang Yi, Yue Leng, Yi Wu

ACM International Conference on Ubiquitous Computing (UbiComp 2024)

Paper

RA-L 2025

Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedback

Feng Gao, Chao Yu📧, Yu Wang, Yi Wu📧

IEEE Robotics and Automation Letters (RA-L 2025)

Paper Code

IROS 2025

Multi-UAV Behavior-based Formation with Static and Dynamic Obstacles Avoidance via Reinforcement Learning

Yuqing Xie⭐️, Chao Yu⭐️📧, Hongzhi Zang⭐️, Feng Gao, Wenhao Tang, Jingyi Huang, Jiayu Chen, Botian Xu, Yi Wu, Yu Wang📧

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Paper Project

ICRA 2025

Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation

Weizheng Wang, Chao Yu, Yu Wang, Byung-Cheol Min

IEEE International Conference on Robotics and Automation (ICRA 2025)

Paper Project

arXiv 2024

Reward-Robust RLHF in LLMs

Yuzi Yan, Xingzhou Lou, Jialian Li, Yiping Zhang, Jian Xie, Chao Yu, Yu Wang, Dong Yan, Yuan Shen

arXiv preprint arXiv:2409.15360 (2024)

Paper

arXiv 2024

A Survey on Self-play Methods in Reinforcement Learning

Ruize Zhang, Zelai Xu, Chengdong Ma, Chao Yu📧, Wei-Wei Tu, Shiyu Huang📧, Deheng Ye, Wenbo Ding, Yaodong Yang, Yu Wang📧

arXiv preprint arXiv:2408.01072 (2024)

Paper

RA-L 2025

FlightBench: A Comprehensive Benchmark of Spatial Planning Methods for Quadrotors

Shu-Ang Yu⭐️, Chao Yu⭐️📧, Feng Gao⭐️, Yi Wu, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2025)

Paper

CIKM 2025

CityLight: A Universal Model Towards Real-world City-scale Traffic Signal Control Coordination

Jinwei Zeng, Chao Yu📧, Xinyi Yang, Wenxuan Ao, Jian Yuan, Yong Li, Yu Wang, Huazhong Yang

ACM International Conference on Information and Knowledge Management (CIKM 2025)

Paper

ICRA 2024

LAGOON: Language-Guided Motion Control

Shusheng Xu⭐️, Huaijie Wang⭐️, Jiaxuan Gao, Yutao Ouyang, Zhiyu Mei, Chao Yu, Yi Wu

IEEE International Conference on Robotics and Automation (ICRA 2024)

Paper

ICML 2024 Oral

Is DPO Superior to PPO for LLM Alignment? A Comprehensive Study

Shusheng Xu⭐️, Wei Fu⭐️, Jiaxuan Gao, Wenjie Ye, Weilin Liu, Zhiyu Mei, Guangju Wang, Chao Yu📧, Yi Wu📧

International Conference on Machine Learning (ICML 2024), Oral

Paper Code

AAAI 2024

Accelerate Multi-Agent Reinforcement Learning in Zero-Sum Games with Subgame Curriculum Learning

Jiayu Chen⭐️, Zelai Xu⭐️, Yunfei Li, Chao Yu, Jiaming Song, Huazhong Yang, Fei Fang, Yu Wang, Yi Wu

AAAI Conference on Artificial Intelligence (AAAI 2024)

Paper Project

RA-L 2024

OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control

Botian Xu, Feng Gao, Chao Yu📧, Ruize Zhang, Yi Wu, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2024)

Paper Code

ICLR 2025

Few-shot In-context Preference Learning using Large Language Models

Chao Yu, Hong Lu, Jiaxuan Gao, Qixin Tan, Xinting Yang, Yu Wang, Yi Wu, Eugene Vinitsky

International Conference on Learning Representations (ICLR 2025)

Paper

AAMAS 2024

LLM-Powered Hierarchical Language Agent for Real-time Human-AI Coordination

Jijia Liu⭐️, Chao Yu⭐️, Jiaxuan Gao⭐️, Yuqing Xie, Qingmin Liao, Yi Wu, Yu Wang

International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2024)

Paper

RA-L 2024

MASP: Scalable Graph-based Planning towards Multi-Agent Navigation

Xinyi Yang⭐️, Xinting Yang⭐️, Chao Yu📧, Jiayu Chen, Wenbo Ding, Huazhong Yang, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2024)

Paper Project

RA-L 2023

Active Neural Topological Mapping for Multi-Agent Exploration

Xinyi Yang⭐️, Yuxiang Yang⭐️, Chao Yu📧, Jiayu Chen, Jincheng Yu, Haibing Ren, Huazhong Yang, Yu Wang📧

IEEE Robotics and Automation Letters (RA-L 2023)

Paper Project

ICML 2024

Language Agents with Reinforcement Learning for Strategic Play in the Werewolf Game

Zelai Xu, Chao Yu, Fei Fang, Yu Wang, Yi Wu

International Conference on Machine Learning (ICML 2024)

Paper

AAMAS 2023

Fictitious Cross-Play: Learning Global Nash Equilibrium in Mixed Cooperative-Competitive Games

Zelai Xu, Yancheng Liang, Chao Yu, Yu Wang, Yi Wu

International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023)

Paper

IJCAI 2023

Automatic Truss Design with Reinforcement Learning

Weihua Du⭐️, Jinglun Zhao⭐️, Chao Yu, Xingcheng Yao, Zimeng Song, Siyang Wu, Ruifeng Luo, Zhiyuan Liu, Xianzhong Zhao, Yi Wu

International Joint Conference on Artificial Intelligence (IJCAI 2023)

Paper

ICLR 2023

Learning Zero-Shot Cooperation with Humans, Assuming Humans Are Biased

Chao Yu⭐️, Jiaxuan Gao⭐️, Weilin Liu, Botian Xu, Hao Tang, Jiaqi Yang, Yu Wang, Yi Wu

International Conference on Learning Representations (ICLR 2023)

Paper

AAMAS 2023

Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration

Chao Yu⭐️, Xinyi Yang⭐️, Jiaxuan Gao⭐️, Jiayu Chen, Yunfei Li, Jijia Liu, Yunfei Xiang, Ruixin Huang, Huazhong Yang, Yi Wu, Yu Wang

International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023)

Paper

AAMAS 2023

Learning Graph-Enhanced Commander-Executor for Multi-Agent Navigation

Xinyi Yang, Shiyu Huang, Yiwen Sun, Yuxiang Yang, Chao Yu, Wei-Wei Tu, Huazhong Yang, Yu Wang

International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2023)

Paper

TCAD 2022

INCAME: Interruptible CNN Accelerator for Multirobot Exploration

Jincheng Yu, Zhilin Xu, Shulin Zeng, Chao Yu, Jiantao Qiu, Chaoyang Shen, Yuanfan Xu, Guohao Dai, Yu Wang, Huazhong Yang

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD 2022), 41(4):964-978

NeurIPS 2022

The Surprising Effectiveness of PPO in Cooperative Multi-Agent Games

Chao Yu⭐️, Akash Velu⭐️, Eugene Vinitsky, Jiaxuan Gao, Yu Wang📧, Alexandre Bayen, Yi Wu📧

Conference on Neural Information Processing Systems (NeurIPS 2022), Datasets and Benchmarks Track

Paper Code

ROBIO 2022

A Benchmark of Planning-based Exploration Methods in Photo-Realistic 3D Simulator

Xuan Du⭐️, Xinyi Yang⭐️, Chao Yu⭐️, Jiaxuan Gao, Qingmin Liao, Huazhong Yang, Yu Wang

IEEE International Conference on Robotics and Biomimetics (ROBIO 2022)

Paper

ECCV 2022

Learning Efficient Multi-Agent Cooperative Visual Exploration

Chao Yu⭐️, Xinyi Yang⭐️, Jiaxuan Gao⭐️, Huazhong Yang, Yu Wang, Yi Wu

European Conference on Computer Vision (ECCV 2022)

Paper Project

ICIP 2022

SAVE: Spatial-Attention Visual Exploration

Xinyi Yang⭐️, Chao Yu⭐️, Jiaxuan Gao⭐️, Yu Wang, Huazhong Yang

IEEE International Conference on Image Processing (ICIP 2022)

Paper

CoG 2022

VMAPD: Generate Diverse Solutions for Multi-Agent Games with Recurrent Trajectory Discriminators

Shiyu Huang, Chao Yu, Bin Wang, Dong Li, Yu Wang, Ting Chen, Jun Zhu

IEEE Conference on Games (CoG 2022)

Paper

ICML 2022

Revisiting Some Common Practices in Cooperative Multi-Agent Reinforcement Learning

Wei Fu, Chao Yu, Zelai Xu, Jiaqi Yang, Yi Wu

International Conference on Machine Learning (ICML 2022)

Paper Project

CASE 2024

Multi-Agent Vulnerability Discovery for Autonomous Driving Policy by Finding AV-Responsible Scenarios

Ye Mu⭐️, Weilin Liu⭐️, Chao Yu, Xuefei Ning📧, Zhong Cao, Zelai Xu, Yi Wu, Shuang Liang, Qingmin Liao, Huazhong Yang, Yu Wang📧

IEEE International Conference on Automation Science and Engineering (CASE 2024)

Paper

CICAI 2021

Unlocking the Potential of MAPPO with Asynchronous Optimization

Wei Fu, Chao Yu, Yunfei Li, Yi Wu

CAAI International Conference on Artificial Intelligence (CICAI 2021)

Paper

ICLR 2021

Discovering Diverse Multi-agent Strategic Behavior Via Reward Randomization

Zhenggang Tang⭐️, Chao Yu⭐️, Boyuan Chen, Huazhe Xu, Xiaolong Wang, Fei Fang, Simon Du, Yu Wang, Yi Wu

International Conference on Learning Representations (ICLR 2021)

Paper Project

NeurIPS 2020 Workshop

Benchmarking Multi-agent Deep Reinforcement Learning Algorithms

Chao Yu⭐️, Akash Velu⭐️, Eugene Vinitsky, Yu Wang, Alexandre Bayen, Yi Wu

Conference on Neural Information Processing Systems (NeurIPS 2020), Workshop

DAC 2020

INCA: INterruptible CNN Accelerator for Multi-tasking in Embedded Robots

Jincheng Yu, Zhilin Xu, Shulin Zeng, Chao Yu, Jiantao Qiu, Chaoyang Shen, Yuanfan Xu, Guohao Dai, Yu Wang, Huazhong Yang

ACM/IEEE Design Automation Conference (DAC 2020)

Paper

RAW 2020

CNN-based Monocular Decentralized SLAM on embedded FPGA

Jincheng Yu, Feng Gao, Jianfei Cao, Chao Yu, Zhaoliang Zhang, Zhengfeng Huang, Yu Wang, Huazhong Yang

IEEE Reconfigurable Architectures Workshop (RAW 2020)

Paper

FCCM 2020

CNN-based Feature-point Extraction for Real-time Visual SLAM on Embedded FPGA

Zhilin Xu, Jincheng Yu, Chao Yu, Hao Shen, Yu Wang, Huazhong Yang

IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM 2020)

Paper

ICCRT 2019

Long-Sighted Imitation Learning for Partially Observable Control

Bo Xiong, Fangshi Wang, Chao Yu, Fei Qiao, Xin-Jun Liu

International Conference on Control and Robot Technology (ICCRT 2019)

Paper

ROBIO 2019

A DenseNet feature-based loop closure method for visual SLAM system

Chao Yu, ZuXin Liu, Xin-Jun Liu, Fei Qiao, Yu Wang, Fugui Xie, Qi Wei, Yi Yang

IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)

Paper

IROS 2018

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Chao Yu, Zuxin Liu, Xin-Jun Liu, Fugui Xie, Qiao Fei

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)

Paper

ROBIO 2017

Multi-robot coordination for high-speed pick-and-place tasks

Chao Yu, Xin-Jun Liu, Fei Qiao, Fugui Xie

IEEE International Conference on Robotics and Biomimetics (ROBIO 2017)

🏆 Awards

2024: China Postdoctoral Excellent Special Foundation (Top 1,000 nationwide), Chinese Postdoctoral Science Foundation (CPSF).
2024: Postdoctoral Fellowship Program (Top 3,000 nationwide), Chinese Postdoctoral Science Foundation (CPSF).
2024: Runner-up for Outstanding Doctoral Thesis (Top 5), Chinese Intelligent Agent and Multi-Agent Systems.
2023: Shuimu Scholar Program, Tsinghua University.
2023: Chuanxin Future Scholar Program, Department of Electronic Engineering, Tsinghua University.
2023: Zhang Keqian Postdoctoral Fellowship, Department of Electronic Engineering, Tsinghua University.
2023: Outstanding Doctoral Thesis (Top 10%), Tsinghua University.
2023: Outstanding Doctoral Graduate (Top 5%), Tsinghua University.
2019: Outstanding Master’s Thesis (Top 10%), Tsinghua University.
2019 - 2023: First-Class Scholarship (3 times), Tsinghua University.
2015: National Scholarship, China Ministry of Education.

🎤 Talks

2026.08.05: 智源专访：具身智能下一步，走向“模型 + 系统”协同
2026.07.19: WAIC国地中心报告
2026.07.12 - 2026.07.18: RSS workshop
2026.06.13: 智源大会报告
2026.06.05: 华为云技术报告
2026.05.23: 杭州蚂蚁开源报告
2026.01.15: 北京人形机器人创新中心报告

📺 Live

2026.08.08: 张翼显（青稞）— 从端到端 VLA 到 Harness VLA：面向具身智能与机器人操作任务的记忆增强式执行框架
2026.07.29: 张翼显（XRobotics）— Harness VLA：可持续进化的具身智能体系统
2026.07.10: 刘志豪（Lumina）— STEAM：无需人工标注的时序集成优势建模，让真实世界机器人学习更进一步！
2026.04.22: 徐哲轩、苑会宁、徐泽来（将门）— 大模型在多智能体任务中的评估、训练与Scaling
2026.04.14: 苑会宁、张翼显（智源大厦 ICLR 分享）— ICLR 预讲会
2026.04.10: 施良致（3D视觉工坊）— 只用20条真实数据训练机器人？RL-Co：强化学习驱动的仿真-真机协同训练
2026.03.24: 徐哲轩（青稞）— 从 Depth Scaling 到 Width Scaling！WideSeek-R1：通过多智能体 RL 探索大模型的广度扩展
2026.03.10: 臧宏之（青稞）— 一起聊聊RLinf-USER：面向现实世界机器人在线策略学习的统一且可扩展系统
2026.03.08: 于舒昂（Xbotics）— RLinf-USER：真实世界在线进化，从系统瓶颈到统一高效，让具身智能真正“活起来”

2026.07.10: 江震南、施良致、臧宏之（Lumina）— [**RLinf 真机系列工作

WoVR, RL-Co and USER**](https://mp.weixin.qq.com/s/ueU4rsaaMWHcBa-59zIj5A)

2025.12.28: 于超（青稞 AI 嘉年华）— 具身智能专题｜2025 “青稞” AI 嘉年华
2025.12.25: 韦明杰（计算机视觉life）— RLinf-VLA框架技术报告——RL如何训练VLA？
2025.12.15: 张瑞泽、季世龙（深蓝）— NeurIPS’25 & CoRL’25｜无人机也能打排球吗？来看看清华团队的解决方案
2025.12.09: 陈康（深蓝）— 对话πRL一作：RLinf流匹配 VLA 在线强化学习框架！π系列模型成功率提升至98%
2025.12.06: 陈康（青稞）— 从 π_0 到 π_RL：面向流匹配 VLA 的强化学习后训练框架
2025.12.02: 臧宏之（青稞）— RLinf-VLA 实践：从零上手 VLA（OpenVLA）强化学习
2025.12.02: 徐泽来（将门创投）— 大模型智能体可以玩好狼人杀吗？
2025.11.27: 刘志豪（3D视觉工坊）— 清华开源｜πRL：首个面向流匹配 VLA 的在线强化学习微调框架
2025.11.26: 张同和、高枫（将门创投）— 清华RLinf团队: RL可以为VLA带来什么？
2025.11.25: 林灏（青稞）— 一起聊聊具身智能 RL 训练框架 RLinf 的系统设计
2025.11.12: 韦明杰（3D视觉工坊）— 统一高效 VLA+RL 训练框架：RLinf-VLA——RL 如何训练 VLA？
2025.11.10: 陈康（具身智能之心）— πRL：首个面向流匹配 VLA 的强化学习微调框架
2025.10.31: 徐泽来、于超（B站）— 2025 bilibili超级科学晚全程回顾
2025.10.28: 高枫、臧宏之（具身智能之心）— SFT 还是RL，VLA到底应该如何训练？
2025.07.18: 高枫（MSRA）— 待补充标题

👓 Projects

Projects: [1] 基于深度强化学习的多无人机追逃博弈决策和控制关键技术研究，国家自然科学基金委，青年科学基金项目（C类）, 2025-2027.
Projects: [2] 多机协同高效机器学习系统研究，国家自然科学基金-中德合作交流基金, 2021-2025.
Projects: [3] 具有强推理能力的大语言模型智能体关键技术研究，中国博士后基金特别资助, 2023-2025.

💼 Work Experience

2026.01 - Present: Assistant Professor, Tsinghua University.
2023.07 - 2025.12: Postdoctoral Researcher, Tsinghua University.

🙋 Recruitment

We are actively recruiting!

We are looking for Ph.D. and Master students, Postdocs at Tsinghua University, Ph.D. students of the Joint Program of Zhongguancun Academy and Tsinghua University and Undergraduate Interns with strong interests and motivation to work on frontier research topics including:

Reinforcement learning & embodied intelligence infrastructure

Embodied agent & embodied large model training

Strategic agent

Open source community

Candidates with hands-on systems building abilities and mathematical background are highly encouraged.

Application → RLinf related work →

🔗 Bond

EE, THU

Energy Efficient Computing Group

Nanoscale Integrated Circuits and System Lab, Energy Efficient Computing Group (NICS-EFC) is leaded by Professor Yu Wang, in Electronic Engineering Department, Tsinghua University. The group is committed to the research of energy-efficient circuits and systems design methodology towards the Artificial Intelligence (AI) scenario: Multi-agent Reinforcement Learning Algorithm, Efficient and Robust DL system, Domain Specific Acceleration, and Multi-agent system. Each direction is headed by a research associate.

Link