Hi, I'm Yufei Jia (贾宇飞) Nice to meet you!

Welcome to my page 🏠 !

I'm Yufei Jia, a PhD student (since 2023) in the Department of Electronic Engineering at Tsinghua University.

I received my B.E. in Department of Automation from Tsinghua University (2019-2023).

My research focuses on Embodied AI especially on robot simulators and whole-body mobile manipulation.

If you are interested in my research, please feel free to contact me. I would be more than happy to collaborate on creating some awesome work together.

📑 Researches

First/Co-first Author

• [IROS2025 Oral] DISCOVERSE: Efficient Robot SImulation in Complex High-Fidelity Environments, Webpage / arXiv / Repo

• [RAL2026] ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations, Webpage / arXiv / Repo

• [Under Review] FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR, arXiv / Repo

• [Under Review] FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks, arXiv / Repo

• [IROS2024 Oral] Arm-Constrained Curriculum Learning for Loco-Manipulation of a Wheel-Legged Robot, Webpage / arXiv / Repo

• [ICRA2023 Poster] Designing the Whole-Body Controller for a Wheel-Legged Mobile Manipulator, Webpage

Co-Author

• [CoRL2025 Oral] Vision-Based Locomotion for Legged Robots: Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments, arXiv / Repo

• [RAL2025] Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning, arXiv

• [arXiv2025] An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation, arXiv

🛠 Open-source Projects

• [MuJoCo-LiDAR] A high-performance LiDAR simulation tool designed for MuJoCo, Repo

• [urdf2mjcf] A one-click generation tool of sim-ready MJCF files from URDF format, Repo

• [ROBOCON2026-MuJoCo] A MuJoCo simulation environment designed for ROBOCON2026 provides a variety of robot motion control strategies and supports multiple sensors and ROS2 interfaces, Repo

💡 Academic Service

• ICRA 2025 Sim2Real Challenge (S2R2025)

  Organizer & Technical Support | Premier ICRA 2025 event focusing on high-fidelity simulation to real-world robot deployment.

• RoboMaster 2024 University Sim2Real Challenge (RMUS 2024)

  Organizer & Technical Support | Part of ICRA 2024. Advancing sim-to-real robotics via autonomous ore-exchange tasks.